Upload DataProcessorPipeline

dm05_processor/tokenizer.json

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 33384722
+oid sha256:daab2354f8a74e70d70b4d1f804939b68a8c9624dd06cb7858e52dd8970e9726
+size 33384567

policy_preprocessor.json

@@ -0,0 +1,113 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "dm05_task_processor",
+      "config": {
+        "default_task": "Execute the robot action."
+      }
+    },
+    {
+      "registry_name": "dm05_action_reference_probe_processor",
+      "config": {
+        "action_dim": 6
+      }
+    },
+    {
+      "registry_name": "relative_actions_processor",
+      "config": {
+        "enabled": true,
+        "exclude_joints": [
+          "gripper"
+        ],
+        "action_names": [
+          "shoulder_pan.pos",
+          "shoulder_lift.pos",
+          "elbow_flex.pos",
+          "wrist_flex.pos",
+          "wrist_roll.pos",
+          "gripper.pos"
+        ]
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-06,
+        "features": {
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              6
+            ]
+          },
+          "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        },
+        "normalize_observation_keys": [
+          "observation.state"
+        ]
+      },
+      "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "dm05_action_reference_extract_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "dm05_state_bins_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "dm05_processor_artifacts",
+      "config": {
+        "processor_name_or_path": "dm05_processor"
+      },
+      "artifacts": {
+        "processor_name_or_path": "dm05_processor"
+      }
+    }
+  ]
+}

policy_preprocessor_step_5_normalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42398a85ca1323ba2870bf08491d4aa95406c55a4b2142ff71175592d7908763
+size 7352