File size: 2,180 Bytes
5136528 8d5ff0f 5136528 8d5ff0f 5136528 8d5ff0f 5136528 8d5ff0f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 | {
"name": "policy_preprocessor",
"steps": [
{
"registry_name": "rename_observations_processor",
"config": {
"rename_map": {}
}
},
{
"registry_name": "to_batch_processor",
"config": {}
},
{
"registry_name": "normalizer_processor",
"config": {
"eps": 1e-08,
"features": {
"observation.images.image": {
"type": "VISUAL",
"shape": [
3,
224,
224
]
},
"observation.images.image2": {
"type": "VISUAL",
"shape": [
3,
224,
224
]
},
"observation.state": {
"type": "STATE",
"shape": [
8
]
},
"action": {
"type": "ACTION",
"shape": [
7
]
}
},
"norm_map": {
"VISUAL": "IDENTITY",
"STATE": "MIN_MAX",
"ACTION": "MIN_MAX"
}
},
"state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
},
{
"registry_name": "longwam_observations",
"config": {
"camera_keys": [
"observation.images.image",
"observation.images.image2"
],
"camera_size": [
224,
224
],
"image_dtype": "bfloat16"
}
},
{
"registry_name": "longwam_action_clamp",
"config": {}
},
{
"registry_name": "longwam_prompt",
"config": {
"prompt_template": "A video recorded from a robot's point of view executing the following instruction: {task}"
}
},
{
"registry_name": "tokenizer_processor",
"config": {
"max_length": 128,
"task_key": "task",
"padding_side": "right",
"padding": "max_length",
"truncation": true,
"tokenizer_name": "google/umt5-xxl"
}
},
{
"registry_name": "device_processor",
"config": {
"device": "cpu",
"float_dtype": null
}
}
]
}
|