Upload DataProcessorPipeline

policy_preprocessor.json

@@ -4,7 +4,11 @@
     {
       "registry_name": "rename_observations_processor",
       "config": {
-        "rename_map": {}
+        "rename_map": {
+          "observation.images.eagle": "observation.images.image1",
+          "observation.images.front": "observation.images.image2",
+          "observation.images.glove": "observation.images.image3"
+        }
       }
     },
     {
@@ -22,18 +26,10 @@
         "tokenizer_name": "facebook/bart-large"
       }
     },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cuda",
-        "float_dtype": null
-      }
-    },
     {
       "registry_name": "xvla_add_domain_id",
       "config": {
-        "domain_id": 0,
-        "device": "cuda"
+        "domain_id": 0
       }
     },
     {
@@ -49,12 +45,19 @@
         "image_keys": null
       }
     },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
     {
       "registry_name": "normalizer_processor",
       "config": {
         "eps": 1e-08,
         "features": {
-          "observation.images.left": {
+          "observation.images.image": {
             "type": "VISUAL",
             "shape": [
               3,
@@ -62,7 +65,7 @@
               256
             ]
           },
-          "observation.images.right": {
+          "observation.images.image2": {
             "type": "VISUAL",
             "shape": [
               3,
@@ -70,30 +73,30 @@
               256
             ]
           },
-          "observation.state": {
-            "type": "STATE",
+          "observation.images.image3": {
+            "type": "VISUAL",
             "shape": [
-              8
+              3,
+              256,
+              256
             ]
           },
-          "observation.images.top": {
-            "type": "VISUAL",
+          "observation.state": {
+            "type": "STATE",
             "shape": [
-              3,
-              224,
-              224
+              8
             ]
           },
           "action": {
             "type": "ACTION",
             "shape": [
-              20
+              6
             ]
           }
         },
         "norm_map": {
           "STATE": "IDENTITY",
-          "ACTION": "IDENTITY",
+          "ACTION": "MEAN_STD",
           "VISUAL": "IDENTITY"
         }
       },

policy_preprocessor_step_7_normalizer_processor.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dc3d669b2f77b6356f38ac946bd665fbccef7a217e18cab7ef7e5bde84ba8c0d
-size 9024
+oid sha256:cb9a374f1b07eba4b509030372c1b1aaab4cb327311bd8813c6c7c4d3f366acc
+size 4248