Hugging Face's logo

LogicDeposit
/
adamu_act_pickplace

Safetensors
Model card Files
xet
 Community
adamu_act_pickplace
File size: 2,551 Bytes
cf4a56f
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.state": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "observation.images.zedm": {
            "type": "VISUAL",
            "shape": [
              3,
              360,
              640
            ]
          },
          "observation.velocity": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "observation.effort": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "observation.state_mode": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "observation.motor_status": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "observation.state_reserve": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              8
            ]
          },
          "action.mode": {
            "type": "ACTION",
            "shape": [
              8
            ]
          },
          "action.dq": {
            "type": "ACTION",
            "shape": [
              8
            ]
          },
          "action.tau": {
            "type": "ACTION",
            "shape": [
              8
            ]
          },
          "action.kp": {
            "type": "ACTION",
            "shape": [
              8
            ]
          },
          "action.kd": {
            "type": "ACTION",
            "shape": [
              8
            ]
          },
          "action.reserve": {
            "type": "ACTION",
            "shape": [
              8
            ]
          }
        },
        "norm_map": {
          "VISUAL": "MEAN_STD",
          "STATE": "MEAN_STD",
          "ACTION": "MEAN_STD"
        }
      },
      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
    }
  ]
}