Upload DataProcessorPipeline

policy_preprocessor.json

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+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {
+          "observation.images.left_left": "observation.images.image",
+          "observation.images.left_top": "observation.images.image2",
+          "observation.images.right_right": "observation.images.empty_camera_0"
+        }
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 50,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true,
+        "tokenizer_name": "facebook/bart-large"
+      }
+    },
+    {
+      "registry_name": "xvla_add_domain_id",
+      "config": {
+        "domain_id": 0
+      }
+    },
+    {
+      "registry_name": "xvla_image_to_float",
+      "config": {
+        "image_keys": null,
+        "validate_range": true
+      }
+    },
+    {
+      "registry_name": "xvla_imagenet_normalize",
+      "config": {
+        "image_keys": null
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.images.image": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              256,
+              256
+            ]
+          },
+          "observation.images.image2": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              256,
+              256
+            ]
+          },
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              8
+            ]
+          },
+          "observation.images.empty_camera_0": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              224,
+              224
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              12
+            ]
+          }
+        },
+        "norm_map": {
+          "STATE": "IDENTITY",
+          "ACTION": "MEAN_STD",
+          "VISUAL": "IDENTITY"
+        }
+      },
+      "state_file": "policy_preprocessor_step_7_normalizer_processor.safetensors"
+    }
+  ]
+}

policy_preprocessor_step_7_normalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9f1e10f15d8f5e3ee9e7c4fc1e41617397c5259b9bfac681e3cbe00761b9619
+size 9184