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Upload DataProcessorPipeline

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Files changed (2) hide show
  1. policy_postprocessor.json +130 -0
  2. policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
policy_postprocessor.json ADDED
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+ {
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+ "name": "policy_postprocessor",
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+ "steps": [
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+ {
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+ "registry_name": "unnormalizer_processor",
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+ "config": {
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+ "eps": 1e-08,
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+ "features": {
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+ "action": {
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+ "type": "ACTION",
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+ "shape": [
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+ 20
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+ ]
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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_postprocessor_step_0_unnormalizer_processor.safetensors"
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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": "cpu",
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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": "absolute_actions_processor",
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+ "config": {
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+ "enabled": true
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+ }
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+ },
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+ {
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+ "registry_name": "robco_postprocessor",
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+ "config": {
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+ "config": {
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+ "observation": {
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+ "images": {
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+ "head": null,
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+ "left_arm": null,
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+ "right_arm": null
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+ },
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+ "state": {
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+ "left_arm.pose": {
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+ "rotation": "6d"
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+ },
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+ "right_arm.pose": {
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+ "rotation": "6d"
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+ },
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+ "left_arm.gripper": null,
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+ "right_arm.gripper": null
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+ }
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+ },
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+ "action": {
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+ "left_arm.gripper": {
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+ "mode": "gripper_bin",
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+ "rotation": null
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+ },
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+ "right_arm.gripper": {
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+ "mode": "gripper_bin",
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+ "rotation": null
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+ },
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+ "left_arm.pose": {
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+ "mode": "pose_relative",
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+ "rotation": "6d"
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+ },
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+ "right_arm.pose": {
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+ "mode": "pose_relative",
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+ "rotation": "6d"
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+ }
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+ }
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+ },
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+ "obs_input_axes": [
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+ "right_arm.pose.x",
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+ "right_arm.pose.y",
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+ "right_arm.pose.z",
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+ "right_arm.pose.qx",
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+ "right_arm.pose.qy",
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+ "right_arm.pose.qz",
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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.qx",
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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.0",
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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.4",
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+ "right_arm.joints.5",
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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.2",
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+ "left_arm.joints.3",
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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.x",
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+ "right_arm.pose.y",
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+ "right_arm.pose.z",
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+ "right_arm.pose.qx",
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+ "right_arm.pose.qy",
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+ "right_arm.pose.qz",
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+ "right_arm.pose.qw",
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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.qz",
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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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+ }
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+ ]
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+ }
policy_postprocessor_step_0_unnormalizer_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