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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"class": "lerobot.processor.tactile_processor.TactileValidationProcessorStep",
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"config": {}
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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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6
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]
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},
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"observation.images.gripper": {
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"type": "VISUAL",
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"shape": [
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3,
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224,
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224
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]
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},
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"observation.images.top": {
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"type": "VISUAL",
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"shape": [
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3,
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224,
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224
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]
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},
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"observation.tactile.primary": {
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"type": "STATE",
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"shape": [
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12,
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32
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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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6
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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": "MEAN_STD",
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"ACTION": "MEAN_STD",
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"TACTILE": "MEAN_STD"
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}
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},
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"state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors"
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}
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]
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}
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policy_preprocessor_step_4_normalizer_processor.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:44d4d7be9139b14b3b0810abf88febcbcc7f3862b89e7f2783278919aab3e232
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size 9644
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