Upload DataProcessorPipeline
Browse files
policy_postprocessor.json
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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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7
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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": "MEAN_STD",
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"ACTION": "MEAN_STD"
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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": "absolute_actions_processor",
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"config": {
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"enabled": false
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}
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},
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{
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"registry_name": "data_transforms_processor",
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"config": {
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"input_features": {
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"observation.images.side": {
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"type": "VISUAL",
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"shape": [
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3,
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224,
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224
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],
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"names": [
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"channel",
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"height",
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"width"
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],
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"dtype": "torch.float32"
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},
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"observation.images.wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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224,
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224
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],
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"names": [
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"channel",
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"height",
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"width"
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],
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"dtype": "torch.float32"
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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9
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],
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"names": [
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"x",
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"y",
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"z",
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"qx",
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"qy",
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"qz",
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"qw",
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"gripper_q1",
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"gripper_q2"
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],
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"dtype": "torch.float32"
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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7
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],
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"names": [
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"x",
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"y",
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"z",
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"rx",
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"ry",
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"rz",
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"tool"
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],
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"dtype": "torch.float32"
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}
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},
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"chunk_size": 50,
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"data_transforms": [
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"robosuite_manipulator_absolute_to_delta_actions"
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],
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"inverse": true
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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": "cpu",
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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_postprocessor_step_0_unnormalizer_processor.safetensors
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:2d5b1fbfcfa666b2a2f1ec1b94cc2c961987c82ff6738b3fdcd61cac2b0947a1
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size 3744
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