Upload DataProcessorPipeline

policy_preprocessor.json

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+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "smolvla_new_line_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 48,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "longest",
+        "truncation": true,
+        "tokenizer_name": "tokenizer"
+      },
+      "artifacts": {
+        "tokenizer_name": "tokenizer"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.state.gripper_position": {
+            "type": "STATE",
+            "shape": [
+              1
+            ]
+          },
+          "observation.state.cartesian_position": {
+            "type": "STATE",
+            "shape": [
+              6
+            ]
+          },
+          "observation.state.joint_position": {
+            "type": "STATE",
+            "shape": [
+              7
+            ]
+          },
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              8
+            ]
+          },
+          "observation.images.wrist_left": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              180,
+              320
+            ]
+          },
+          "observation.images.exterior_1_left": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              180,
+              320
+            ]
+          },
+          "observation.images.exterior_2_left": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              180,
+              320
+            ]
+          },
+          "action.gripper_position": {
+            "type": "ACTION",
+            "shape": [
+              1
+            ]
+          },
+          "action.gripper_velocity": {
+            "type": "ACTION",
+            "shape": [
+              1
+            ]
+          },
+          "action.cartesian_position": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          },
+          "action.cartesian_velocity": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          },
+          "action.joint_position": {
+            "type": "ACTION",
+            "shape": [
+              7
+            ]
+          },
+          "action.joint_velocity": {
+            "type": "ACTION",
+            "shape": [
+              7
+            ]
+          },
+          "action.original": {
+            "type": "ACTION",
+            "shape": [
+              7
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              8
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
+        }
+      },
+      "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
+    }
+  ]
+}

policy_preprocessor_step_5_normalizer_processor.safetensors

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3146562bd073762fdcba65d8c7fc27f65316efd8d4a3249a0a9ad282e422fc65
+size 27672

tokenizer/chat_template.jinja

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+<|im_start|>{% for message in messages %}{{message['role'] | capitalize}}{% if message['content'][0]['type'] == 'image' %}{{':'}}{% else %}{{': '}}{% endif %}{% for line in message['content'] %}{% if line['type'] == 'text' %}{{line['text']}}{% elif line['type'] == 'image' %}{{ '<image>' }}{% endif %}{% endfor %}<end_of_utterance>
+{% endfor %}{% if add_generation_prompt %}{{ 'Assistant:' }}{% endif %}

tokenizer/tokenizer_config.json

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+{
+  "add_prefix_space": false,
+  "backend": "tokenizers",
+  "bos_token": "<|im_start|>",
+  "clean_up_tokenization_spaces": false,
+  "end_of_utterance_token": "<end_of_utterance>",
+  "eos_token": "<end_of_utterance>",
+  "errors": "replace",
+  "fake_image_token": "<fake_token_around_image>",
+  "global_image_token": "<global-img>",
+  "image_token": "<image>",
+  "is_local": false,
+  "legacy": false,
+  "model_max_length": 8192,
+  "model_specific_special_tokens": {
+    "end_of_utterance_token": "<end_of_utterance>",
+    "fake_image_token": "<fake_token_around_image>",
+    "global_image_token": "<global-img>",
+    "image_token": "<image>"
+  },
+  "pad_token": "<|im_end|>",
+  "processor_class": "SmolVLMProcessor",
+  "tokenizer_class": "GPT2Tokenizer",
+  "truncation_side": "left",
+  "unk_token": "<|endoftext|>",
+  "vocab_size": 49152
+}