Upload DataProcessorPipeline
Browse files
policy_preprocessor.json
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{
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"name": "policy_preprocessor",
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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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"observation.images.top": "observation.images.image",
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"observation.images.left_wrist": "observation.images.image2",
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"observation.images.right_wrist": "observation.images.empty_camera_0",
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"observation.images.front": "observation.images.image"
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}
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}
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},
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{
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"registry_name": "to_batch_processor",
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"config": {}
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},
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{
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"registry_name": "tokenizer_processor",
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"config": {
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"max_length": 50,
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"task_key": "task",
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"padding_side": "right",
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"padding": "max_length",
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"truncation": true,
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"tokenizer_name": "facebook/bart-large"
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}
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},
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{
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"registry_name": "xvla_add_domain_id",
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"config": {
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"domain_id": 0
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}
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},
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{
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"registry_name": "xvla_image_to_float",
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"config": {
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"image_keys": null,
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"validate_range": true
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}
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},
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{
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"registry_name": "xvla_imagenet_normalize",
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"config": {
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"image_keys": null
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}
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},
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{
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"registry_name": "device_processor",
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"config": {
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"device": "cuda",
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"float_dtype": null
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}
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},
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{
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"registry_name": "normalizer_processor",
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"config": {
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"eps": 1e-08,
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"features": {
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"observation.images.image": {
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"type": "VISUAL",
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"shape": [
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3,
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720,
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1280
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]
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},
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"observation.images.image2": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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15
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]
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},
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"observation.images.empty_camera_0": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.instruction": {
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"type": "LANGUAGE",
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"shape": [
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1
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]
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},
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"action": {
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"type": "ACTION",
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"shape": [
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15
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]
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}
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},
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"norm_map": {
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"STATE": "IDENTITY",
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"ACTION": "MEAN_STD",
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"VISUAL": "IDENTITY"
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}
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},
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"state_file": "policy_preprocessor_step_7_normalizer_processor.safetensors"
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}
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]
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}
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policy_preprocessor_step_7_normalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:6617e66a2dc7d686828afc5893e6e57042ee6a1d0e550b08eb8332097e86d1e6
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size 10376
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