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Upload DataProcessorPipeline

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Files changed (2) hide show
  1. policy_preprocessor.json +182 -0
  2. policy_preprocessor_step_5_normalizer_processor.safetensors +3 -0
policy_preprocessor.json ADDED
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+ {
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+ "name": "policy_preprocessor",
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+ "steps": [
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+ {
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+ "config": {
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+ }
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+ },
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+ "action": {
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+ "right_arm.pose": {
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+ "right_arm.pose.qy",
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+ "right_arm.pose.qw",
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+ "left_arm.pose.x",
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+ "left_arm.pose.y",
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+ "left_arm.pose.z",
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+ "left_arm.pose.qy",
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+ "left_arm.pose.qz",
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+ "left_arm.pose.qw",
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+ "right_arm.gripper",
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+ "left_arm.gripper",
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+ "right_arm.joints.1",
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+ "right_arm.joints.2",
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+ "right_arm.joints.3",
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+ "right_arm.joints.6",
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+ "left_arm.joints.0",
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+ "left_arm.joints.1",
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+ "left_arm.joints.4",
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+ "left_arm.joints.5",
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+ "left_arm.joints.6"
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+ ],
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+ "action_input_axes": [
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+ "right_arm.pose.y",
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+ "right_arm.pose.qx",
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+ "right_arm.pose.qy",
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+ "right_arm.gripper",
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+ "left_arm.pose.x",
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+ "left_arm.pose.y",
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+ "left_arm.pose.z",
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+ "left_arm.pose.qx",
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+ "left_arm.pose.qy",
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+ "left_arm.pose.qw",
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+ "left_arm.gripper"
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+ }
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+ {
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+ "registry_name": "delta_actions_processor",
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+ "registry_name": "rename_observations_processor",
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+ "registry_name": "to_batch_processor",
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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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+ "features": {
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+ "action": {
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+ }
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+ },
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+ "norm_map": {
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+ "ACTION": "MEAN_STD",
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+ "STATE": "MEAN_STD",
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+ "VISUAL": "IDENTITY"
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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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+ }
policy_preprocessor_step_5_normalizer_processor.safetensors ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:ec4b4c98fbf1075250422df2373a9effc18bf032ed68005c58b1b6ca05a52bd9
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+ size 10304