maximellerbach HF Staff
Migrate config and processors to the cleaned-up LingBot-VLA 2.0 port
d5e32f4 verified | { | |
| "name": "policy_preprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "rename_observations_processor", | |
| "config": { | |
| "rename_map": {} | |
| } | |
| }, | |
| { | |
| "registry_name": "to_batch_processor", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "relative_actions_processor", | |
| "config": { | |
| "enabled": false, | |
| "exclude_joints": [], | |
| "action_names": null | |
| } | |
| }, | |
| { | |
| "registry_name": "normalizer_processor", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 14 | |
| ] | |
| }, | |
| "observation.images.cam_high": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.cam_left_wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.cam_right_wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 14 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "QUANTILES", | |
| "ACTION": "QUANTILES" | |
| } | |
| }, | |
| "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" | |
| }, | |
| { | |
| "registry_name": "lingbot_vla_v2_slot_mapping", | |
| "config": { | |
| "state_spans": { | |
| "arm.position": [ | |
| [ | |
| 0, | |
| 6 | |
| ], | |
| [ | |
| 7, | |
| 13 | |
| ] | |
| ], | |
| "effector.position": [ | |
| [ | |
| 6, | |
| 7 | |
| ], | |
| [ | |
| 13, | |
| 14 | |
| ] | |
| ] | |
| }, | |
| "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 | |
| }, | |
| "chunk_size": 50, | |
| "max_state_dim": 55, | |
| "max_action_dim": 55 | |
| } | |
| }, | |
| { | |
| "registry_name": "lingbot_vla_v2_image", | |
| "config": { | |
| "tokenizer_path": "image_processor", | |
| "cameras": [ | |
| "cam_high", | |
| "cam_left_wrist", | |
| "cam_right_wrist" | |
| ], | |
| "resize_imgs_with_padding": [ | |
| 256, | |
| 256 | |
| ], | |
| "image_max_pixels": 65536, | |
| "image_min_pixels": 65536 | |
| }, | |
| "artifacts": { | |
| "tokenizer_path": "image_processor" | |
| } | |
| }, | |
| { | |
| "registry_name": "lingbot_vla_v2_chat_template", | |
| "config": { | |
| "task_key": "task", | |
| "tokenizer_name": "chat_template_tokenizer" | |
| }, | |
| "artifacts": { | |
| "tokenizer_name": "chat_template_tokenizer" | |
| } | |
| }, | |
| { | |
| "registry_name": "tokenizer_processor", | |
| "config": { | |
| "max_length": 72, | |
| "task_key": "task", | |
| "padding_side": "right", | |
| "padding": "max_length", | |
| "truncation": true, | |
| "tokenizer_name": "tokenizer" | |
| }, | |
| "artifacts": { | |
| "tokenizer_name": "tokenizer" | |
| } | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cpu", | |
| "float_dtype": null | |
| } | |
| } | |
| ] | |
| } |