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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"actions": "action",
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"state": "observation.state"
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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": "normalizer_processor",
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"config": {
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"eps": 1e-08,
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"features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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16
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]
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},
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"observation.images.robot0_agentview_left_image": {
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"type": "VISUAL",
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"shape": [
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3,
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128,
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128
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]
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},
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"observation.images.robot0_agentview_right_image": {
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"type": "VISUAL",
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"shape": [
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3,
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128,
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128
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]
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},
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"observation.images.robot0_eye_in_hand_image": {
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"type": "VISUAL",
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"shape": [
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3,
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128,
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128
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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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12
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]
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}
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},
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"norm_map": {
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"VISUAL": "IDENTITY",
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"STATE": "QUANTILES",
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"ACTION": "QUANTILES"
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}
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},
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"state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
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},
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{
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"registry_name": "pi05_prepare_state_tokenizer_processor_step",
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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": 200,
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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": "google/paligemma-3b-pt-224"
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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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}
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policy_preprocessor_step_2_normalizer_processor.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:3fec65226447983be97af1ac92e4173f74f7d3a40070e67394c352e1d717ec3d
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size 10576
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