Upload DataProcessorPipeline
Browse files
policy_preprocessor.json
ADDED
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@@ -0,0 +1,203 @@
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{
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| 2 |
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"name": "policy_preprocessor",
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| 3 |
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"steps": [
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{
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"registry_name": "rename_observations_processor",
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"config": {
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"rename_map": {}
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}
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},
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{
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"registry_name": "act_romoya_preprocess_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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| 17 |
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"joint3.pos",
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| 18 |
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"joint4.pos",
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"joint5.pos",
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"joint6.pos",
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| 21 |
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"gripper.pos",
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| 22 |
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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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| 26 |
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"joint2.pos",
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"joint3.pos",
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| 28 |
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"joint4.pos",
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| 29 |
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"joint5.pos",
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| 30 |
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"joint6.pos",
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| 31 |
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"gripper.pos",
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| 32 |
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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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| 36 |
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null,
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| 37 |
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null,
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| 38 |
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null,
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null,
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| 40 |
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null,
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| 41 |
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null,
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| 42 |
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0.5
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| 43 |
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],
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"binary_action": [
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| 45 |
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null,
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| 46 |
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null,
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| 47 |
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null,
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| 48 |
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null,
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| 49 |
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null,
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| 50 |
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null,
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| 51 |
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null,
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| 52 |
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[
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| 53 |
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0.5,
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| 54 |
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0.0,
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| 55 |
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1.0
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| 56 |
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]
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| 57 |
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],
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| 58 |
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"delta_action": [
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true,
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| 60 |
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true,
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| 61 |
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true,
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| 62 |
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true,
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| 63 |
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true,
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| 64 |
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true,
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| 65 |
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true,
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| 66 |
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false
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| 67 |
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],
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| 68 |
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"state_feature_names_to_keep": [
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| 69 |
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"joint1.pos",
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| 70 |
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"joint2.pos",
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| 71 |
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"joint3.pos",
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| 72 |
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"joint4.pos",
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| 73 |
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"joint5.pos",
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| 74 |
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"joint6.pos",
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| 75 |
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"gripper.pos",
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| 76 |
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"DO_1"
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| 77 |
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],
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| 78 |
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"raw_observation_state_feature_names": [
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| 79 |
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"joint1.pos",
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| 80 |
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"joint2.pos",
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| 81 |
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"joint3.pos",
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| 82 |
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"joint4.pos",
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| 83 |
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"joint5.pos",
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| 84 |
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"joint6.pos",
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| 85 |
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"gripper.pos",
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| 86 |
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"gripper.force",
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| 87 |
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"DO_0",
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| 88 |
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"DO_1",
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| 89 |
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"joint1.effort",
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| 90 |
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"joint2.effort",
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| 91 |
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"joint3.effort",
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| 92 |
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"joint4.effort",
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| 93 |
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"joint5.effort",
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| 94 |
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"joint6.effort",
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| 95 |
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"joint1.vel",
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| 96 |
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"joint2.vel",
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| 97 |
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"joint3.vel",
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| 98 |
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"joint4.vel",
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| 99 |
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"joint5.vel",
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| 100 |
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"joint6.vel",
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| 101 |
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"joint1.acc",
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| 102 |
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"joint2.acc",
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| 103 |
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"joint3.acc",
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| 104 |
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"joint4.acc",
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| 105 |
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"joint5.acc",
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| 106 |
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"joint6.acc",
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| 107 |
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"tcp.x",
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| 108 |
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"tcp.y",
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| 109 |
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"tcp.z",
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| 110 |
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"tcp.rx",
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| 111 |
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"tcp.ry",
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| 112 |
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"tcp.rz"
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| 113 |
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],
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| 114 |
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"raw_action_feature_names": [
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| 115 |
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"joint1.pos",
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| 116 |
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"joint2.pos",
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| 117 |
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"joint3.pos",
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| 118 |
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"joint4.pos",
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| 119 |
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"joint5.pos",
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| 120 |
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"joint6.pos",
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| 121 |
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"gripper.pos",
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| 122 |
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"gripper.force",
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| 123 |
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"DO_0",
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| 124 |
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"DO_1"
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| 125 |
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],
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| 126 |
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"joint_action_names": [
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| 127 |
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"joint1.pos",
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| 128 |
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"joint2.pos",
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| 129 |
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"joint3.pos",
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| 130 |
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"joint4.pos",
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| 131 |
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"joint5.pos",
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| 132 |
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"joint6.pos"
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| 133 |
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],
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| 134 |
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"gripper_action_name": "gripper.pos",
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| 135 |
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"do_action_names": [
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| 136 |
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"DO_1"
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| 137 |
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],
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| 138 |
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"context_id": "act_romoya"
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| 139 |
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}
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| 140 |
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},
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| 141 |
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{
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| 142 |
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"registry_name": "to_batch_processor",
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| 143 |
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"config": {}
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| 144 |
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},
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| 145 |
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{
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| 146 |
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"registry_name": "device_processor",
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| 147 |
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"config": {
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| 148 |
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"device": "cuda",
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| 149 |
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"float_dtype": null
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| 150 |
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}
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| 151 |
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},
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| 152 |
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{
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| 153 |
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"registry_name": "normalizer_processor",
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| 154 |
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"config": {
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| 155 |
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"eps": 1e-08,
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| 156 |
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"features": {
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| 157 |
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"observation.state": {
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| 158 |
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"type": "STATE",
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| 159 |
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"shape": [
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| 160 |
+
8
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| 161 |
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]
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| 162 |
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},
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| 163 |
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"observation.images.wrist": {
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| 164 |
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"type": "VISUAL",
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| 165 |
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"shape": [
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| 166 |
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3,
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| 167 |
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360,
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| 168 |
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640
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| 169 |
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]
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| 170 |
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},
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| 171 |
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"observation.images.top": {
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| 172 |
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"type": "VISUAL",
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| 173 |
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"shape": [
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| 174 |
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3,
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| 175 |
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360,
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| 176 |
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640
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| 177 |
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]
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| 178 |
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},
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| 179 |
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"observation.images.side": {
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| 180 |
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"type": "VISUAL",
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| 181 |
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"shape": [
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| 182 |
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3,
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| 183 |
+
360,
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| 184 |
+
640
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| 185 |
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]
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| 186 |
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},
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| 187 |
+
"action": {
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| 188 |
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"type": "ACTION",
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| 189 |
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"shape": [
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| 190 |
+
8
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| 191 |
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]
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| 192 |
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}
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| 193 |
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},
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| 194 |
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"norm_map": {
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| 195 |
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"VISUAL": "MEAN_STD",
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| 196 |
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"STATE": "MEAN_STD",
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| 197 |
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"ACTION": "MEAN_STD"
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| 198 |
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}
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| 199 |
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},
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| 200 |
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"state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors"
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| 201 |
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}
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| 202 |
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]
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| 203 |
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}
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policy_preprocessor_step_4_normalizer_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 |
+
oid sha256:3f0c25310bbcb2835691cd797b6eaaec95a22e01091486944519139f947e4fc4
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| 3 |
+
size 8704
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