Upload DataProcessorPipeline
Browse files
policy_postprocessor.json
ADDED
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@@ -0,0 +1,167 @@
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{
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"name": "policy_postprocessor",
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"steps": [
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{
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"registry_name": "unnormalizer_processor",
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"config": {
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"eps": 1e-08,
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"features": {
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"action": {
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"type": "ACTION",
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"shape": [
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8
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]
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}
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},
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"norm_map": {
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"VISUAL": "MEAN_STD",
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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_postprocessor_step_0_unnormalizer_processor.safetensors"
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},
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{
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"registry_name": "act_romoya_postprocess_v1",
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"config": {
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"action_mode": "delta_joint_gripper_do1",
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"state_feature_names": [
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"joint1.pos",
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"joint2.pos",
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"joint3.pos",
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"joint4.pos",
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"joint5.pos",
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| 34 |
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"joint6.pos",
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"gripper.pos",
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"DO_1"
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],
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"action_feature_names": [
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"joint1.pos",
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"joint2.pos",
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"joint3.pos",
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"joint4.pos",
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| 43 |
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"joint5.pos",
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| 44 |
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"joint6.pos",
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"gripper.pos",
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"DO_1"
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],
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"binary_state": [
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null,
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null,
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null,
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null,
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| 53 |
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null,
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| 54 |
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null,
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| 55 |
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null,
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0.5
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],
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"binary_action": [
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null,
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| 60 |
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null,
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| 61 |
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null,
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null,
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| 63 |
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null,
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| 64 |
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null,
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| 65 |
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null,
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| 66 |
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[
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| 67 |
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0.5,
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0.0,
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1.0
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| 70 |
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]
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| 71 |
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],
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"delta_action": [
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true,
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true,
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true,
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true,
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true,
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true,
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true,
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false
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],
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"state_feature_names_to_keep": [
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"joint1.pos",
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"joint2.pos",
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"joint3.pos",
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| 86 |
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"joint4.pos",
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"joint5.pos",
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"joint6.pos",
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| 89 |
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"gripper.pos",
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| 90 |
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"DO_1"
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| 91 |
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],
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| 92 |
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"raw_observation_state_feature_names": [
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"joint1.pos",
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"joint2.pos",
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"joint3.pos",
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| 96 |
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"joint4.pos",
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| 97 |
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"joint5.pos",
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"joint6.pos",
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"gripper.pos",
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"gripper.force",
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"DO_0",
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"DO_1",
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"joint1.effort",
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"joint2.effort",
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"joint3.effort",
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"joint4.effort",
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"joint5.effort",
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"joint6.effort",
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"joint1.vel",
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"joint2.vel",
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| 111 |
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"joint3.vel",
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"joint4.vel",
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"joint5.vel",
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| 114 |
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"joint6.vel",
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"joint1.acc",
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| 116 |
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"joint2.acc",
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| 117 |
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"joint3.acc",
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| 118 |
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"joint4.acc",
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"joint5.acc",
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| 120 |
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"joint6.acc",
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| 121 |
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"tcp.x",
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| 122 |
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"tcp.y",
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| 123 |
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"tcp.z",
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| 124 |
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"tcp.rx",
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| 125 |
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"tcp.ry",
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| 126 |
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"tcp.rz"
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| 127 |
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],
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| 128 |
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"raw_action_feature_names": [
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| 129 |
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"joint1.pos",
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| 130 |
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"joint2.pos",
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| 131 |
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"joint3.pos",
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| 132 |
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"joint4.pos",
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| 133 |
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"joint5.pos",
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| 134 |
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"joint6.pos",
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| 135 |
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"gripper.pos",
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| 136 |
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"gripper.force",
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| 137 |
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"DO_0",
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| 138 |
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"DO_1"
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| 139 |
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],
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| 140 |
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"joint_action_names": [
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| 141 |
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"joint1.pos",
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| 142 |
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"joint2.pos",
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| 143 |
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"joint3.pos",
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| 144 |
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"joint4.pos",
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| 145 |
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"joint5.pos",
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| 146 |
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"joint6.pos"
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| 147 |
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],
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| 148 |
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"gripper_action_name": "gripper.pos",
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| 149 |
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"do_action_names": [
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| 150 |
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"DO_1"
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| 151 |
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],
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| 152 |
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"do_threshold": 0.5,
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| 153 |
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"sigmoid_do_outputs": false,
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| 154 |
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"context_id": "act_romoya",
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| 155 |
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"gripper_min": 0.0,
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| 156 |
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"gripper_max": 100.0
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| 157 |
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}
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| 158 |
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},
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| 159 |
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{
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| 160 |
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"registry_name": "device_processor",
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| 161 |
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"config": {
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| 162 |
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"device": "cpu",
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| 163 |
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"float_dtype": null
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| 164 |
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}
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| 165 |
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}
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| 166 |
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]
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}
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policy_postprocessor_step_0_unnormalizer_processor.safetensors
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:3f0c25310bbcb2835691cd797b6eaaec95a22e01091486944519139f947e4fc4
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| 3 |
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size 8704
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