Upload DataProcessorPipeline

policy_preprocessor.json

@@ -11,13 +11,6 @@
       "registry_name": "to_batch_processor",
       "config": {}
     },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cuda",
-        "float_dtype": null
-      }
-    },
     {
       "registry_name": "normalizer_processor",
       "config": {
@@ -53,12 +46,34 @@
           }
         },
         "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MEAN_STD",
-          "ACTION": "MEAN_STD"
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
         }
       },
-      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
+      "state_file": "policy_preprocessor_step_2_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
+      }
     }
   ]
 }

policy_preprocessor_step_2_normalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56c8a4c8702949a37eae676a1f55d2e9ad1604c5ce5755396a31add7e12aed32
+size 7552