Upload DataProcessorPipeline

policy_preprocessor.json

@@ -0,0 +1,157 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "relative_actions_processor",
+      "config": {
+        "enabled": false,
+        "exclude_joints": [
+          "gripper"
+        ],
+        "action_names": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.images.robot0_eye_in_hand": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              256,
+              256
+            ]
+          },
+          "observation.images.robot0_agentview_left": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              256,
+              256
+            ]
+          },
+          "observation.images.robot0_agentview_right": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              256,
+              256
+            ]
+          },
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              16
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              12
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
+        }
+      },
+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "render_messages_processor",
+      "config": {
+        "recipe": {
+          "messages": null,
+          "bindings": null,
+          "blend": {
+            "high_level_subtask": {
+              "messages": [
+                {
+                  "role": "user",
+                  "content": "${task}",
+                  "stream": "high_level",
+                  "target": false,
+                  "if_present": null,
+                  "tool_calls_from": null
+                },
+                {
+                  "role": "assistant",
+                  "content": "${subtask}",
+                  "stream": "high_level",
+                  "target": true,
+                  "if_present": "subtask",
+                  "tool_calls_from": null
+                }
+              ],
+              "bindings": null,
+              "blend": null,
+              "weight": 0.3
+            },
+            "low_level_execution": {
+              "messages": [
+                {
+                  "role": "user",
+                  "content": "${subtask}",
+                  "stream": "low_level",
+                  "target": false,
+                  "if_present": "subtask",
+                  "tool_calls_from": null
+                }
+              ],
+              "bindings": null,
+              "blend": null,
+              "weight": 0.7
+            }
+          },
+          "weight": null
+        }
+      }
+    },
+    {
+      "registry_name": "pi052_text_tokenizer",
+      "config": {
+        "tokenizer_name": "google/paligemma-3b-pt-224",
+        "max_length": 128,
+        "padding": "max_length",
+        "padding_side": "right",
+        "plan_dropout_prob": 0.0,
+        "memory_dropout_prob": 0.0,
+        "subtask_dropout_prob": 0.0,
+        "interjection_dropout_prob": 0.0,
+        "dropout_seed": null
+      }
+    },
+    {
+      "registry_name": "action_tokenizer_processor",
+      "config": {
+        "trust_remote_code": true,
+        "max_action_tokens": 384,
+        "fast_skip_tokens": 1152,
+        "paligemma_tokenizer_name": "google/paligemma-3b-pt-224",
+        "allow_truncation": false,
+        "action_tokenizer_name": "/fsx/pepijn/outputs/fast_tokenizers/pi052_atomic4_05_flow_repeat_1/c1cd9a998fa989d4"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}

policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2c11dc38cb36dcb3b53c69fa755bcd43b69c5bedfb33ff31445b26094676840
+size 6448