Upload DataProcessorPipeline

.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+tokenizer/tokenizer.json filter=lfs diff=lfs merge=lfs -text

policy_preprocessor.json

@@ -0,0 +1,99 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "pi0_new_line_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 48,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true,
+        "tokenizer_name": "tokenizer"
+      },
+      "artifacts": {
+        "tokenizer_name": "tokenizer"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "relative_actions_processor",
+      "config": {
+        "enabled": false,
+        "exclude_joints": [
+          "gripper"
+        ],
+        "action_names": [
+          "shoulder_pan.pos",
+          "shoulder_lift.pos",
+          "elbow_flex.pos",
+          "wrist_flex.pos",
+          "wrist_roll.pos",
+          "gripper.pos"
+        ]
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              6
+            ]
+          },
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              640,
+              480
+            ]
+          },
+          "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              640,
+              480
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
+        }
+      },
+      "state_file": "policy_preprocessor_step_6_normalizer_processor.safetensors"
+    }
+  ]
+}

policy_preprocessor_step_6_normalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02a901957680430c53cb070e0d81193a6c2c9693d7a44da9c26de0848d363bc7
+size 7544

tokenizer/tokenizer.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee726ea83cc9cfac4c3bae873d1f885a0e81b5832fabd413d425b778b2141b50
+size 34387382

tokenizer/tokenizer_config.json

@@ -0,0 +1,19 @@
+{
+  "backend": "tokenizers",
+  "bos_token": "<bos>",
+  "clean_up_tokenization_spaces": false,
+  "eos_token": "<eos>",
+  "extra_special_tokens": [
+    "<image>"
+  ],
+  "is_local": false,
+  "mask_token": "<mask>",
+  "model_max_length": 1000000000000000019884624838656,
+  "pad_token": "<pad>",
+  "processor_class": "PaliGemmaProcessor",
+  "sp_model_kwargs": {},
+  "spaces_between_special_tokens": false,
+  "tokenizer_class": "GemmaTokenizer",
+  "unk_token": "<unk>",
+  "use_default_system_prompt": false
+}