Upload DataProcessorPipeline
Browse files
policy_postprocessor.json
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{
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"name": "policy_postprocessor",
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"steps": [
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{
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"registry_name": "unnormalizer_processor",
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"config": {
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"eps": 1e-08,
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"features": {
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"action": {
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"type": "ACTION",
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"shape": [
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8
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]
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}
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},
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"norm_map": {
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"VISUAL": "MEAN_STD",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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}
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},
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
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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": "cpu",
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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": "act_romoya_postprocess_v1",
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"config": {
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"raw_observation_state_feature_names": [
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"joint1.pos",
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"joint2.pos",
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"joint3.pos",
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"joint4.pos",
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"joint5.pos",
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"joint6.pos",
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"gripper.pos",
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"gripper.force",
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"DO_0",
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"DO_1",
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"joint1.effort",
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"joint2.effort",
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"joint3.effort",
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"joint4.effort",
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"joint5.effort",
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"joint6.effort",
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"joint1.vel",
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"joint2.vel",
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"joint3.vel",
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"joint4.vel",
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"joint5.vel",
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"joint6.vel",
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"joint1.acc",
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"joint2.acc",
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"joint3.acc",
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"joint4.acc",
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"joint5.acc",
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"joint6.acc",
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"tcp.x",
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"tcp.y",
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"tcp.z",
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"tcp.rx",
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"tcp.ry",
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"tcp.rz"
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],
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"raw_action_feature_names": [
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"joint1.pos",
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"joint2.pos",
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"joint3.pos",
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"joint4.pos",
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"joint5.pos",
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"joint6.pos",
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"gripper.pos",
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"gripper.force",
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"DO_0",
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"DO_1"
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],
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"joint_action_names": [
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"joint1.pos",
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"joint2.pos",
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"joint3.pos",
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"joint4.pos",
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"joint5.pos",
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"joint6.pos"
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],
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"gripper_action_name": "gripper.pos",
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"do_action_names": [
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"DO_1"
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],
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"do_threshold": 0.5,
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"sigmoid_do_outputs": true,
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"context_id": "act_romoya",
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"gripper_min": 0.0,
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"gripper_max": 100.0
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}
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}
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]
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}
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policy_postprocessor_step_0_unnormalizer_processor.safetensors
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:26f43c0f8632f19fa4fa630f991a349846e3f0b5cf7d82223bca2c2789d66e0c
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size 8100
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