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vla_state_modulation_v3_variability

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Upload DataProcessorPipeline

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Files changed (2) hide show
  1. policy_preprocessor.json +108 -0
  2. policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
policy_preprocessor.json ADDED
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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": "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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+ ]
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+ },
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+ "observation.images.wrist": {
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+ "type": "VISUAL",
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+ ]
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+ "type": "VISUAL",
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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.vfm_features.wrist": {
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+ "type": "STATE",
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+ "shape": [
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+ 768
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+ ]
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+ },
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+ "observation.vfm_features.front": {
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+ "type": "STATE",
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+ 16,
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+ 16,
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+ 768
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+ ]
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+ },
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+ "observation.skill_feature": {
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+ "type": "STATE",
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+ "shape": [
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+ 1024
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+ ]
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+ },
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+ "observation.object_feature": {
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+ "type": "STATE",
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+ },
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+ "observation.vlm_features.wrist": {
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+ 1024
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+ ]
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+ },
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+ "observation.vlm_features.front": {
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+ "type": "STATE",
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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": "IDENTITY",
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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_preprocessor_step_3_normalizer_processor.safetensors"
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+ }
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+ ]
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+ }
policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
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+ size 216328