Upload DataProcessorPipeline
Browse files
policy_preprocessor.json
ADDED
|
@@ -0,0 +1,102 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"name": "policy_preprocessor",
|
| 3 |
+
"steps": [
|
| 4 |
+
{
|
| 5 |
+
"registry_name": "rename_observations_processor",
|
| 6 |
+
"config": {
|
| 7 |
+
"rename_map": {
|
| 8 |
+
"observation.images.left_cam_scene": "observation.images.base_0_rgb",
|
| 9 |
+
"observation.images.left_cam_left": "observation.images.left_wrist_0_rgb",
|
| 10 |
+
"observation.images.right_cam_right": "observation.images.right_wrist_0_rgb"
|
| 11 |
+
}
|
| 12 |
+
}
|
| 13 |
+
},
|
| 14 |
+
{
|
| 15 |
+
"registry_name": "to_batch_processor",
|
| 16 |
+
"config": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"registry_name": "relative_actions_processor",
|
| 20 |
+
"config": {
|
| 21 |
+
"enabled": false,
|
| 22 |
+
"exclude_joints": [
|
| 23 |
+
"gripper"
|
| 24 |
+
],
|
| 25 |
+
"action_names": null,
|
| 26 |
+
"state_index": null
|
| 27 |
+
}
|
| 28 |
+
},
|
| 29 |
+
{
|
| 30 |
+
"registry_name": "normalizer_processor",
|
| 31 |
+
"config": {
|
| 32 |
+
"eps": 1e-08,
|
| 33 |
+
"features": {
|
| 34 |
+
"observation.images.base_0_rgb": {
|
| 35 |
+
"type": "VISUAL",
|
| 36 |
+
"shape": [
|
| 37 |
+
3,
|
| 38 |
+
224,
|
| 39 |
+
224
|
| 40 |
+
]
|
| 41 |
+
},
|
| 42 |
+
"observation.images.left_wrist_0_rgb": {
|
| 43 |
+
"type": "VISUAL",
|
| 44 |
+
"shape": [
|
| 45 |
+
3,
|
| 46 |
+
224,
|
| 47 |
+
224
|
| 48 |
+
]
|
| 49 |
+
},
|
| 50 |
+
"observation.images.right_wrist_0_rgb": {
|
| 51 |
+
"type": "VISUAL",
|
| 52 |
+
"shape": [
|
| 53 |
+
3,
|
| 54 |
+
224,
|
| 55 |
+
224
|
| 56 |
+
]
|
| 57 |
+
},
|
| 58 |
+
"observation.state": {
|
| 59 |
+
"type": "STATE",
|
| 60 |
+
"shape": [
|
| 61 |
+
32
|
| 62 |
+
]
|
| 63 |
+
},
|
| 64 |
+
"action": {
|
| 65 |
+
"type": "ACTION",
|
| 66 |
+
"shape": [
|
| 67 |
+
14
|
| 68 |
+
]
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"norm_map": {
|
| 72 |
+
"VISUAL": "IDENTITY",
|
| 73 |
+
"STATE": "QUANTILES",
|
| 74 |
+
"ACTION": "QUANTILES"
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
|
| 78 |
+
},
|
| 79 |
+
{
|
| 80 |
+
"registry_name": "pi05_prepare_state_tokenizer_processor_step",
|
| 81 |
+
"config": {}
|
| 82 |
+
},
|
| 83 |
+
{
|
| 84 |
+
"registry_name": "tokenizer_processor",
|
| 85 |
+
"config": {
|
| 86 |
+
"max_length": 200,
|
| 87 |
+
"task_key": "task",
|
| 88 |
+
"padding_side": "right",
|
| 89 |
+
"padding": "max_length",
|
| 90 |
+
"truncation": true,
|
| 91 |
+
"tokenizer_name": "google/paligemma-3b-pt-224"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"registry_name": "device_processor",
|
| 96 |
+
"config": {
|
| 97 |
+
"device": "cuda",
|
| 98 |
+
"float_dtype": null
|
| 99 |
+
}
|
| 100 |
+
}
|
| 101 |
+
]
|
| 102 |
+
}
|
policy_preprocessor_step_3_normalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:42ef11abb584e8724624331f2fae4d6d5780a82ba6047d544b0e7b13592c9ce5
|
| 3 |
+
size 10680
|