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policy_test_5

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Upload DataProcessorPipeline

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Files changed (2) hide show
  1. policy_preprocessor.json +106 -0
  2. policy_preprocessor_step_5_normalizer_processor.safetensors +3 -0
policy_preprocessor.json ADDED
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+ {
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+ "name": "policy_preprocessor",
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+ "steps": [
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+ {
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+ "config": {
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+ "rename_map": {
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+ "observation.images.front": "observation.images.camera1",
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+ "observation.images.top": "observation.images.camera2"
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+ }
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+ }
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+ },
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+ {
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+ "registry_name": "to_batch_processor",
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+ "config": {}
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+ },
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+ {
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+ "registry_name": "smolvla_new_line_processor",
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+ "config": {}
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+ },
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+ {
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+ "registry_name": "tokenizer_processor",
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+ "config": {
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+ "max_length": 48,
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+ "task_key": "task",
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+ "padding": "max_length",
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+ "truncation": true,
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+ "tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct"
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+ }
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+ },
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+ {
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+ "registry_name": "device_processor",
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+ "config": {
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+ "device": "cuda",
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+ "float_dtype": null
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+ }
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+ },
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+ {
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+ "registry_name": "normalizer_processor",
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+ "config": {
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+ "eps": 1e-08,
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+ "features": {
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+ "observation.state": {
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+ "type": "STATE",
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+ "shape": [
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+ "type": "VISUAL",
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+ "action": {
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+ "type": "ACTION",
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+ "shape": [
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+ }
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+ },
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+ "norm_map": {
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+ "VISUAL": "IDENTITY",
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+ "STATE": "MEAN_STD",
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+ "ACTION": "MEAN_STD"
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+ }
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+ },
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+ "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
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+ }
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+ ]
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+ }
policy_preprocessor_step_5_normalizer_processor.safetensors ADDED
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