Upload DataProcessorPipeline
Browse files
policy_preprocessor.json
ADDED
|
@@ -0,0 +1,133 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"name": "policy_preprocessor",
|
| 3 |
+
"steps": [
|
| 4 |
+
{
|
| 5 |
+
"registry_name": "rename_observations_processor",
|
| 6 |
+
"config": {
|
| 7 |
+
"rename_map": {}
|
| 8 |
+
}
|
| 9 |
+
},
|
| 10 |
+
{
|
| 11 |
+
"registry_name": "to_batch_processor",
|
| 12 |
+
"config": {}
|
| 13 |
+
},
|
| 14 |
+
{
|
| 15 |
+
"registry_name": "act_romoya_preprocess_v1",
|
| 16 |
+
"config": {
|
| 17 |
+
"action_mode": "absolute_joint_gripper_do1",
|
| 18 |
+
"state_feature_names_to_keep": [
|
| 19 |
+
"joint1.pos",
|
| 20 |
+
"joint2.pos",
|
| 21 |
+
"joint3.pos",
|
| 22 |
+
"joint4.pos",
|
| 23 |
+
"joint5.pos",
|
| 24 |
+
"joint6.pos",
|
| 25 |
+
"gripper.pos",
|
| 26 |
+
"DO_1"
|
| 27 |
+
],
|
| 28 |
+
"raw_observation_state_feature_names": [
|
| 29 |
+
"joint1.pos",
|
| 30 |
+
"joint2.pos",
|
| 31 |
+
"joint3.pos",
|
| 32 |
+
"joint4.pos",
|
| 33 |
+
"joint5.pos",
|
| 34 |
+
"joint6.pos",
|
| 35 |
+
"gripper.pos",
|
| 36 |
+
"gripper.force",
|
| 37 |
+
"DO_0",
|
| 38 |
+
"DO_1",
|
| 39 |
+
"joint1.effort",
|
| 40 |
+
"joint2.effort",
|
| 41 |
+
"joint3.effort",
|
| 42 |
+
"joint4.effort",
|
| 43 |
+
"joint5.effort",
|
| 44 |
+
"joint6.effort",
|
| 45 |
+
"joint1.vel",
|
| 46 |
+
"joint2.vel",
|
| 47 |
+
"joint3.vel",
|
| 48 |
+
"joint4.vel",
|
| 49 |
+
"joint5.vel",
|
| 50 |
+
"joint6.vel",
|
| 51 |
+
"joint1.acc",
|
| 52 |
+
"joint2.acc",
|
| 53 |
+
"joint3.acc",
|
| 54 |
+
"joint4.acc",
|
| 55 |
+
"joint5.acc",
|
| 56 |
+
"joint6.acc",
|
| 57 |
+
"tcp.x",
|
| 58 |
+
"tcp.y",
|
| 59 |
+
"tcp.z",
|
| 60 |
+
"tcp.rx",
|
| 61 |
+
"tcp.ry",
|
| 62 |
+
"tcp.rz"
|
| 63 |
+
],
|
| 64 |
+
"raw_action_feature_names": [
|
| 65 |
+
"joint1.pos",
|
| 66 |
+
"joint2.pos",
|
| 67 |
+
"joint3.pos",
|
| 68 |
+
"joint4.pos",
|
| 69 |
+
"joint5.pos",
|
| 70 |
+
"joint6.pos",
|
| 71 |
+
"gripper.pos",
|
| 72 |
+
"gripper.force",
|
| 73 |
+
"DO_0",
|
| 74 |
+
"DO_1"
|
| 75 |
+
],
|
| 76 |
+
"joint_action_names": [
|
| 77 |
+
"joint1.pos",
|
| 78 |
+
"joint2.pos",
|
| 79 |
+
"joint3.pos",
|
| 80 |
+
"joint4.pos",
|
| 81 |
+
"joint5.pos",
|
| 82 |
+
"joint6.pos"
|
| 83 |
+
],
|
| 84 |
+
"gripper_action_name": "gripper.pos",
|
| 85 |
+
"do_action_names": [
|
| 86 |
+
"DO_1"
|
| 87 |
+
],
|
| 88 |
+
"context_id": "act_romoya"
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
{
|
| 92 |
+
"registry_name": "device_processor",
|
| 93 |
+
"config": {
|
| 94 |
+
"device": "cuda",
|
| 95 |
+
"float_dtype": null
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"registry_name": "normalizer_processor",
|
| 100 |
+
"config": {
|
| 101 |
+
"eps": 1e-08,
|
| 102 |
+
"features": {
|
| 103 |
+
"observation.state": {
|
| 104 |
+
"type": "STATE",
|
| 105 |
+
"shape": [
|
| 106 |
+
8
|
| 107 |
+
]
|
| 108 |
+
},
|
| 109 |
+
"observation.images.side": {
|
| 110 |
+
"type": "VISUAL",
|
| 111 |
+
"shape": [
|
| 112 |
+
3,
|
| 113 |
+
360,
|
| 114 |
+
640
|
| 115 |
+
]
|
| 116 |
+
},
|
| 117 |
+
"action": {
|
| 118 |
+
"type": "ACTION",
|
| 119 |
+
"shape": [
|
| 120 |
+
8
|
| 121 |
+
]
|
| 122 |
+
}
|
| 123 |
+
},
|
| 124 |
+
"norm_map": {
|
| 125 |
+
"VISUAL": "MEAN_STD",
|
| 126 |
+
"STATE": "MEAN_STD",
|
| 127 |
+
"ACTION": "MEAN_STD"
|
| 128 |
+
}
|
| 129 |
+
},
|
| 130 |
+
"state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors"
|
| 131 |
+
}
|
| 132 |
+
]
|
| 133 |
+
}
|
policy_preprocessor_step_4_normalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bb9a183e33811edc6a60fc6f2eb514f4ff8ce385acddaae14f59788f4384166a
|
| 3 |
+
size 8100
|