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": "delta_actions_processor",
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"config": {
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"enabled": true,
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"exclude_joints": [
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"gripper"
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],
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"action_names": [
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"right_joint_1.pos",
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"right_joint_2.pos",
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"right_joint_3.pos",
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"right_joint_4.pos",
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"right_joint_5.pos",
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"right_joint_6.pos",
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"right_joint_7.pos",
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"right_gripper.pos",
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"left_joint_1.pos",
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"left_joint_2.pos",
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"left_joint_3.pos",
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"left_joint_4.pos",
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"left_joint_5.pos",
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"left_joint_6.pos",
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"left_joint_7.pos",
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"left_gripper.pos"
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]
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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.state": {
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"type": "STATE",
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"shape": [
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16
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]
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},
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"observation.images.left_wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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720,
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1280
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]
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},
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"observation.images.right_wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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720,
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1280
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]
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},
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"observation.images.base": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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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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16
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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": "QUANTILES",
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"ACTION": "QUANTILES"
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}
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},
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"state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
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},
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{
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"registry_name": "pi05_prepare_state_tokenizer_processor_step",
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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": 200,
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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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}
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policy_preprocessor_step_3_normalizer_processor.safetensors
ADDED
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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:a1b1270e883d208458c3399029469222733e2b0827521382d56127d9fe053e93
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size 9456
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