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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}
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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": "delta_actions_processor",
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"config": {
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"enabled": true,
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"exclude_joints": [
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"gripper"
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],
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"action_names": [
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"position.x",
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"position.y",
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"position.z",
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"orientation.x",
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"orientation.y",
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"orientation.z",
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"orientation.w"
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],
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"convert_relative_quat_to_rotvec": true,
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"use_ee_frame_pose": true
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}
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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": 77,
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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": "openai/clip-vit-base-patch16"
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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.state": {
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"type": "STATE",
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"shape": [
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26
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]
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},
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"observation.images.center_camera": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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},
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"observation.images.right_camera": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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},
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"observation.images.center_camera_center_crop": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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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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7
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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": "MIN_MAX",
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"ACTION": "MIN_MAX"
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}
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},
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"state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
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}
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]
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}
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policy_preprocessor_step_5_normalizer_processor.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:b34f6a69853e31a9f3c0de7625a69d72bc41d9052b1324613785b8ce86d845d9
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size 9716
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