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DiscoDemo-Stage3_SFT-StackCube

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DiscoDemo-Stage3_SFT-StackCube
File size: 3,000 Bytes
2484973
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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{
    "name": "policy_preprocessor",
    "steps": [
        {
            "registry_name": "rename_observations_processor",
            "config": {
                "rename_map": {
                    "observation.images.over_shoulder_left_camera": "observation.images.base_0_rgb",
                    "observation.images.wrist_cam": "observation.images.left_wrist_0_rgb"
                }
            }
        },
        {
            "registry_name": "to_batch_processor",
            "config": {}
        },
        {
            "registry_name": "action_delta_processor_step",
            "config": {
                "mask": [
                    true,
                    true,
                    true,
                    true,
                    true,
                    true,
                    true,
                    false
                ],
                "state_key": "observation.state"
            }
        },
        {
            "registry_name": "normalizer_processor",
            "config": {
                "eps": 1e-08,
                "features": {
                    "observation.images.base_0_rgb": {
                        "type": "VISUAL",
                        "shape": [
                            3,
                            480,
                            640
                        ]
                    },
                    "observation.images.left_wrist_0_rgb": {
                        "type": "VISUAL",
                        "shape": [
                            3,
                            480,
                            640
                        ]
                    },
                    "observation.state": {
                        "type": "STATE",
                        "shape": [
                            8
                        ]
                    },
                    "action": {
                        "type": "ACTION",
                        "shape": [
                            8
                        ]
                    }
                },
                "norm_map": {
                    "VISUAL": "IDENTITY",
                    "STATE": "QUANTILES",
                    "ACTION": "QUANTILES"
                }
            },
            "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
        },
        {
            "registry_name": "pi05_prepare_state_tokenizer_processor_step",
            "config": {}
        },
        {
            "registry_name": "tokenizer_processor",
            "config": {
                "max_length": 200,
                "task_key": "task",
                "padding_side": "right",
                "padding": "max_length",
                "truncation": true,
                "tokenizer_name": "google/paligemma-3b-pt-224"
            }
        },
        {
            "registry_name": "device_processor",
            "config": {
                "device": "cuda",
                "float_dtype": null
            }
        }
    ]
}