Add pi05 block-transfer (lerobot, LoRA, relative actions) step-40000 + Run Record README
e6325a3 verified | { | |
| "name": "policy_preprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "rename_observations_processor", | |
| "config": { | |
| "rename_map": {} | |
| } | |
| }, | |
| { | |
| "registry_name": "to_batch_processor", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "delta_actions_processor", | |
| "config": { | |
| "enabled": true, | |
| "exclude_joints": [ | |
| "left_carriage_joint", | |
| "right_carriage_joint" | |
| ], | |
| "action_names": [ | |
| "left_joint_0.pos", | |
| "left_joint_1.pos", | |
| "left_joint_2.pos", | |
| "left_joint_3.pos", | |
| "left_joint_4.pos", | |
| "left_joint_5.pos", | |
| "left_left_carriage_joint.pos", | |
| "right_joint_0.pos", | |
| "right_joint_1.pos", | |
| "right_joint_2.pos", | |
| "right_joint_3.pos", | |
| "right_joint_4.pos", | |
| "right_joint_5.pos", | |
| "right_left_carriage_joint.pos" | |
| ] | |
| } | |
| }, | |
| { | |
| "registry_name": "normalizer_processor", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 14 | |
| ] | |
| }, | |
| "observation.images.cam_high": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.cam_low": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.cam_left_wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.cam_right_wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 14 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "QUANTILES", | |
| "ACTION": "QUANTILES" | |
| } | |
| }, | |
| "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" | |
| }, | |
| { | |
| "registry_name": "pi05_prepare_state_tokenizer_processor_step", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "tokenizer_processor", | |
| "config": { | |
| "max_length": 200, | |
| "task_key": "task", | |
| "padding_side": "right", | |
| "padding": "max_length", | |
| "truncation": true, | |
| "tokenizer_name": "google/paligemma-3b-pt-224" | |
| } | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cuda", | |
| "float_dtype": null | |
| } | |
| } | |
| ] | |
| } |