{
  "denoising_steps": null,
  "device": "cuda",
  "embodiment_tag": "gr1",
  "modality_config": {
    "action": "{\"delta_indices\":[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15],\"modality_keys\":[\"action.left_arm\",\"action.right_arm\",\"action.left_hand\",\"action.right_hand\"]}",
    "language": "{\"delta_indices\":[0],\"modality_keys\":[\"annotation.human.action.task_description\"]}",
    "state": "{\"delta_indices\":[0],\"modality_keys\":[\"state.left_arm\",\"state.right_arm\",\"state.left_hand\",\"state.right_hand\"]}",
    "video": "{\"delta_indices\":[0],\"modality_keys\":[\"video.ego_view\"]}"
  },
  "model_path": "not-lain/gr00t_policy_1"
}