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": "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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10
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]
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},
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"observation.ee_pose_world": {
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"type": "STATE",
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"shape": [
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9
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]
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},
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"observation.object_pos": {
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"type": "STATE",
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"shape": [
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3
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]
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},
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"observation.scene_objects": {
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"type": "STATE",
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"shape": [
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72
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]
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},
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"observation.pressure_per_finger": {
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"type": "STATE",
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"shape": [
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2
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]
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},
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"observation.active_object_slot": {
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"type": "STATE",
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"shape": [
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1
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]
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},
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"observation.contact": {
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"type": "STATE",
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"shape": [
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1
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]
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},
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"observation.phase": {
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"type": "STATE",
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"shape": [
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1
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]
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},
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"observation.is_finished": {
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"type": "STATE",
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"shape": [
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1
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]
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},
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"observation.images.depth": {
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"type": "VISUAL",
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"shape": [
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3,
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192,
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256
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]
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},
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"observation.images.front_noarm": {
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"type": "VISUAL",
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"shape": [
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3,
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192,
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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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10
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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_3_normalizer_processor.safetensors"
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}
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]
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}
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policy_preprocessor_step_3_normalizer_processor.safetensors
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:c562d696896a731acd9ea6cdaa67046b33bcc02e8b5c7244c084fe05b8a7fe90
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size 18128
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