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": "pi0_new_line_processor",
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"config": {}
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},
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{
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"registry_name": "tokenizer_processor",
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"config": {
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"max_length": 48,
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"task_key": "task",
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"padding_side": "right",
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"padding": "max_length",
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"truncation": true,
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"tokenizer_name": "google/paligemma-3b-pt-224"
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}
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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.image": {
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"type": "VISUAL",
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"shape": [
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3,
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448,
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448
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]
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},
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"observation.wrist_image": {
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"type": "VISUAL",
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"shape": [
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3,
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448,
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448
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]
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},
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"observation.left_scene_image": {
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"type": "VISUAL",
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"shape": [
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3,
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448,
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448
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]
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},
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"observation.right_scene_image": {
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"type": "VISUAL",
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"shape": [
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3,
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448,
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448
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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7
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]
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},
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"observation.eef_pose": {
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"type": "STATE",
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"shape": [
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7
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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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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_5_normalizer_processor.safetensors"
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}
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]
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}
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policy_preprocessor_step_5_normalizer_processor.safetensors
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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 sha256:5ef165e599d9a1f05882eb2e954087f5ba1cdf4f4452a65e2ddf9a6fd6b4cc78
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size 12912
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