File size: 1,351 Bytes
58a6349
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
{
  "policy": {
    "name": "act",
    "source": {
      "class_path": "physicalai.policies.act.policy.ACT"
    }
  },
  "model": {
    "runner": {
      "class_path": "physicalai.inference.runners.single_pass.SinglePass"
    },
    "artifacts": {
      "executorch": "act.pte"
    },
    "input_features": [
      {
        "class_path": "physicalai.inference.data.features.InferenceFeature",
        "init_args": {
          "ftype": "STATE",
          "shape": [
            6
          ],
          "name": "state",
          "dtype": "float32"
        }
      },
      {
        "class_path": "physicalai.inference.data.features.InferenceFeature",
        "init_args": {
          "ftype": "VISUAL",
          "shape": [
            3,
            480,
            640
          ],
          "name": "images.wrist",
          "dtype": "float32"
        }
      },
      {
        "class_path": "physicalai.inference.data.features.InferenceFeature",
        "init_args": {
          "ftype": "VISUAL",
          "shape": [
            3,
            480,
            640
          ],
          "name": "images.overview",
          "dtype": "float32"
        }
      }
    ]
  },
  "input_names": [
    "state",
    "images.wrist",
    "images.overview"
  ],
  "output_names": [
    "action"
  ],
  "format": "policy_package",
  "version": "1.0"
}