Migrate policy to processor pipeline system This commit includes: - Preprocessor configuration - Postprocessor configuration - Clean model weights - Updated configurations - Model card

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: AdilZtn/grab_red_cube_test_25
+datasets: unknown
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
 - act
-- lerobot
 - robotics
+- lerobot
 ---
 
 # Model Card for act
@@ -31,7 +31,7 @@ Below is the short version on how to train and run inference/eval:
 ### Train from scratch
 
 ```bash
-python -m lerobot.scripts.train \
+lerobot-train \
   --dataset.repo_id=${HF_USER}/<dataset> \
   --policy.type=act \
   --output_dir=outputs/train/<desired_policy_repo_id> \
@@ -41,12 +41,12 @@ python -m lerobot.scripts.train \
   --wandb.enable=true
 ```
 
-*Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`.*
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
 
 ### Evaluate the policy/run inference
 
 ```bash
-python -m lerobot.record \
+lerobot-record \
   --robot.type=so100_follower \
   --dataset.repo_id=<hf_user>/eval_<dataset> \
   --policy.path=<hf_user>/<desired_policy_repo_id> \
@@ -59,4 +59,4 @@ Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a
 
 ## Model Details
 
-* **License:** apache-2.0
+- **License:** apache-2.0

config.json

@@ -1,11 +1,6 @@
 {
     "type": "act",
     "n_obs_steps": 1,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MEAN_STD",
-        "ACTION": "MEAN_STD"
-    },
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -47,6 +42,11 @@
     "license": null,
     "chunk_size": 100,
     "n_action_steps": 100,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "replace_final_stride_with_dilation": false,

model.safetensors

@@ -1,3 +1,3 @@
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-size 206701064
+oid sha256:b4c49d54968eafdd9377fa302de80993a41332b783ef80643b30f7c1d274cd21
+size 206699736

policy_postprocessor.json

@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
+        }
+      },
+      "state_file": "policy_postprocessor_step_1_unnormalizer_processor.safetensors"
+    }
+  ]
+}

policy_postprocessor_step_1_unnormalizer_processor.safetensors

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+size 784

policy_preprocessor.json

@@ -0,0 +1,64 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              6
+            ]
+          },
+          "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
+        }
+      },
+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
+    }
+  ]
+}

policy_preprocessor_step_3_normalizer_processor.safetensors

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+size 784