# @package data
_target_: roboimi.vla.data.dataset.RobotDiffusionDataset

# Dataset Directory (CHANGE THIS TO YOUR DATA PATH)
dataset_dir: "roboimi/demos/dataset/sim_transfer"  # Path to your dataset directory

# Horizon Parameters — 使用 Hydra 插值，从 agent 配置中引用，保持一致性
pred_horizon: ${agent.pred_horizon}
obs_horizon: ${agent.obs_horizon}
action_horizon: 8 # Action execution horizon (used during evaluation)

# Camera Names (CHANGE THIS TO MATCH YOUR CAMERAS)
camera_names:
  - r_vis
  - top
  - front

# Normalization Type: 'gaussian' (mean/std) or 'min_max' ([-1, 1])
normalization_type: min_max
