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clr-experiment-molmoact2-3

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clr-experiment-molmoact2-3
File size: 2,610 Bytes
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{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "molmoact2_masked_normalizer",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.image": {
            "type": "VISUAL",
            "shape": [
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              448
            ]
          },
          "observation.wrist_image": {
            "type": "VISUAL",
            "shape": [
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            ]
          },
          "observation.left_scene_image": {
            "type": "VISUAL",
            "shape": [
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            ]
          },
          "observation.right_scene_image": {
            "type": "VISUAL",
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          "observation.state": {
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          "observation.eef_pose": {
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            "shape": [
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          },
          "action": {
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            "shape": [
              7
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "QUANTILES",
          "ACTION": "QUANTILES"
        }
      },
      "state_file": "policy_preprocessor_step_2_molmoact2_masked_normalizer.safetensors"
    },
    {
      "registry_name": "molmoact2_clamp_normalized",
      "config": {}
    },
    {
      "registry_name": "molmoact2_pack_inputs",
      "config": {
        "checkpoint_path": "allenai/MolmoAct2",
        "checkpoint_revision": null,
        "checkpoint_force_download": false,
        "trust_remote_code": true,
        "action_mode": "continuous",
        "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer",
        "image_keys": [],
        "setup_type": "",
        "control_mode": "",
        "normalize_language": true,
        "add_setup_tokens": true,
        "add_control_tokens": true,
        "num_state_tokens": 256,
        "max_sequence_length": null,
        "chunk_size": 30,
        "max_action_dim": 32,
        "env_action_dim": 7
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}