Upload DataProcessorPipeline
Browse files
policy_preprocessor.json
CHANGED
|
@@ -12,19 +12,34 @@
|
|
| 12 |
"config": {}
|
| 13 |
},
|
| 14 |
{
|
| 15 |
-
"registry_name": "
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 16 |
"config": {}
|
| 17 |
},
|
| 18 |
{
|
| 19 |
-
"registry_name": "
|
| 20 |
-
"config": {
|
| 21 |
-
"max_length": 48,
|
| 22 |
-
"task_key": "task",
|
| 23 |
-
"padding_side": "right",
|
| 24 |
-
"padding": "max_length",
|
| 25 |
-
"truncation": true,
|
| 26 |
-
"tokenizer_name": "google/paligemma-3b-pt-224"
|
| 27 |
-
}
|
| 28 |
},
|
| 29 |
{
|
| 30 |
"registry_name": "device_processor",
|
|
@@ -32,40 +47,6 @@
|
|
| 32 |
"device": "cuda",
|
| 33 |
"float_dtype": null
|
| 34 |
}
|
| 35 |
-
},
|
| 36 |
-
{
|
| 37 |
-
"registry_name": "normalizer_processor",
|
| 38 |
-
"config": {
|
| 39 |
-
"eps": 1e-08,
|
| 40 |
-
"features": {
|
| 41 |
-
"observation.image": {
|
| 42 |
-
"type": "VISUAL",
|
| 43 |
-
"shape": [
|
| 44 |
-
3,
|
| 45 |
-
256,
|
| 46 |
-
256
|
| 47 |
-
]
|
| 48 |
-
},
|
| 49 |
-
"observation.state": {
|
| 50 |
-
"type": "STATE",
|
| 51 |
-
"shape": [
|
| 52 |
-
32
|
| 53 |
-
]
|
| 54 |
-
},
|
| 55 |
-
"action": {
|
| 56 |
-
"type": "ACTION",
|
| 57 |
-
"shape": [
|
| 58 |
-
32
|
| 59 |
-
]
|
| 60 |
-
}
|
| 61 |
-
},
|
| 62 |
-
"norm_map": {
|
| 63 |
-
"VISUAL": "IDENTITY",
|
| 64 |
-
"STATE": "MEAN_STD",
|
| 65 |
-
"ACTION": "MEAN_STD"
|
| 66 |
-
}
|
| 67 |
-
},
|
| 68 |
-
"state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
|
| 69 |
}
|
| 70 |
]
|
| 71 |
}
|
|
|
|
| 12 |
"config": {}
|
| 13 |
},
|
| 14 |
{
|
| 15 |
+
"registry_name": "groot_pack_inputs_v3",
|
| 16 |
+
"config": {
|
| 17 |
+
"state_horizon": 1,
|
| 18 |
+
"action_horizon": 16,
|
| 19 |
+
"max_state_dim": 64,
|
| 20 |
+
"max_action_dim": 32,
|
| 21 |
+
"language_key": "task",
|
| 22 |
+
"formalize_language": false,
|
| 23 |
+
"embodiment_tag": "new_embodiment",
|
| 24 |
+
"embodiment_mapping": {
|
| 25 |
+
"new_embodiment": 31,
|
| 26 |
+
"oxe_droid": 17,
|
| 27 |
+
"agibot_genie1": 26,
|
| 28 |
+
"gr1": 24,
|
| 29 |
+
"so100": 2,
|
| 30 |
+
"unitree_g1": 3
|
| 31 |
+
},
|
| 32 |
+
"normalize_min_max": true
|
| 33 |
+
},
|
| 34 |
+
"state_file": "policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors"
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"registry_name": "groot_eagle_encode_v3",
|
| 38 |
"config": {}
|
| 39 |
},
|
| 40 |
{
|
| 41 |
+
"registry_name": "groot_eagle_collate_v3",
|
| 42 |
+
"config": {}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 43 |
},
|
| 44 |
{
|
| 45 |
"registry_name": "device_processor",
|
|
|
|
| 47 |
"device": "cuda",
|
| 48 |
"float_dtype": null
|
| 49 |
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 50 |
}
|
| 51 |
]
|
| 52 |
}
|
policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:880167dc1bb8e458f254ba6506c6234e5c479771aaf54c77aa65773f87a94541
|
| 3 |
+
size 11088
|