Upload DataProcessorPipeline
Browse files
policy_preprocessor.json
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@@ -0,0 +1,116 @@
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{
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"name": "policy_preprocessor",
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"steps": [
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{
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"registry_name": "rename_observations_processor",
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"config": {
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"rename_map": {}
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}
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},
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{
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"registry_name": "to_batch_processor",
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"config": {}
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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": "cuda",
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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": "normalizer_processor",
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"config": {
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"eps": 1e-08,
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"features": {
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"observation.state.gripper_position": {
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"type": "STATE",
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"shape": [
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1
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]
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},
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"observation.state.cartesian_position": {
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"type": "STATE",
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"shape": [
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6
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]
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},
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"observation.state.joint_position": {
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"type": "STATE",
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"shape": [
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7
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]
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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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8
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]
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},
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"observation.images.wrist_left": {
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"type": "VISUAL",
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"shape": [
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3,
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180,
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320
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]
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},
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"action.gripper_position": {
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"type": "ACTION",
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"shape": [
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1
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]
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},
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"action.gripper_velocity": {
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"type": "ACTION",
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"shape": [
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1
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]
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},
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"action.cartesian_position": {
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"type": "ACTION",
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"shape": [
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6
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]
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},
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"action.cartesian_velocity": {
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"type": "ACTION",
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"shape": [
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6
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]
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},
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"action.joint_position": {
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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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"action.joint_velocity": {
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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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"action.original": {
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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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"action": {
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"type": "ACTION",
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"shape": [
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8
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]
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}
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},
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"norm_map": {
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"VISUAL": "MEAN_STD",
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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_preprocessor_step_3_normalizer_processor.safetensors"
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}
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]
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}
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policy_preprocessor_step_3_normalizer_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 sha256:13abe3385fce97d9d1c6999ff6dbab1a42957197e4ca7fe2375abe370d2c85b8
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size 13668
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