maximellerbach HF Staff
Migrate config and processors to the cleaned-up LingBot-VLA 2.0 port
d5e32f4 verified | { | |
| "name": "policy_postprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "lingbot_vla_v2_inverse_slot_mapping", | |
| "config": { | |
| "action_spans": { | |
| "arm.position": [ | |
| [ | |
| 0, | |
| 6 | |
| ], | |
| [ | |
| 7, | |
| 13 | |
| ] | |
| ], | |
| "effector.position": [ | |
| [ | |
| 6, | |
| 7 | |
| ], | |
| [ | |
| 13, | |
| 14 | |
| ] | |
| ] | |
| }, | |
| "canonical_joints": { | |
| "arm.position": 14, | |
| "end.position": 14, | |
| "effector.position": 2, | |
| "hand.position": 12, | |
| "waist.position": 4, | |
| "head.position": 2, | |
| "base.velocity": 3, | |
| "reserved.slots": 4 | |
| } | |
| } | |
| }, | |
| { | |
| "registry_name": "unnormalizer_processor", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 14 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "QUANTILES", | |
| "ACTION": "QUANTILES" | |
| } | |
| }, | |
| "state_file": "policy_postprocessor_step_1_unnormalizer_processor.safetensors" | |
| }, | |
| { | |
| "registry_name": "absolute_actions_processor", | |
| "config": { | |
| "enabled": false | |
| } | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cpu", | |
| "float_dtype": null | |
| } | |
| } | |
| ] | |
| } |