Upload DataProcessorPipeline
Browse files
policy_preprocessor.json
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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": "molmoact2_state_frame_transform",
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"config": {
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"joint_signs": null,
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"joint_offsets": null
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}
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},
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{
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"registry_name": "molmoact2_masked_normalizer",
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"config": {
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"eps": 1e-08,
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"features": {
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"observation.state": {
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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.images.wrist_cam": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.images.top_cam": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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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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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": "QUANTILES",
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"ACTION": "QUANTILES"
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}
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},
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"state_file": "policy_preprocessor_step_3_molmoact2_masked_normalizer.safetensors"
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},
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{
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"registry_name": "molmoact2_clamp_normalized",
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"config": {}
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},
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{
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"registry_name": "molmoact2_pack_inputs",
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"config": {
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"checkpoint_path": "allenai/MolmoAct2",
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"checkpoint_revision": null,
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"checkpoint_force_download": false,
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"action_mode": "continuous",
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"discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer",
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"image_keys": [
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"observation.images.top_cam",
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"observation.images.wrist_cam"
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],
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"allow_image_key_fallback": false,
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"setup_type": "single ur5e robotic arm",
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"control_mode": "delta end-effector pose",
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"normalize_language": true,
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"add_setup_tokens": true,
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"add_control_tokens": true,
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"num_state_tokens": 256,
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"max_sequence_length": null,
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"chunk_size": 30,
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"max_action_dim": 32,
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"env_action_dim": 7
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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": "cuda",
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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_preprocessor_step_3_molmoact2_masked_normalizer.safetensors
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:fae9f95b701d1d4fac70af866a88cceb5dadb3783c0480c8cc268888a5a8a953
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size 7896
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