Upload MolmoAct2 006000 policy_preprocessor.json
Browse files
checkpoints/006000/pretrained_model/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_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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12
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]
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},
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"observation.images.left_wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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720,
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1280
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]
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},
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"observation.images.right_wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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720,
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1280
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]
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},
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"observation.images.top": {
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"type": "VISUAL",
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"shape": [
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3,
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576,
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1024
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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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12
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]
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}
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},
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"norm_map": {
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"ACTION": "MEAN_STD",
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"STATE": "MEAN_STD",
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"VISUAL": "IDENTITY"
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}
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},
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"state_file": "policy_preprocessor_step_2_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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"trust_remote_code": true,
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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",
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"observation.images.left_wrist",
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"observation.images.right_wrist"
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],
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"setup_type": "bimanual so100/so101 robotic arms in molmoact2",
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"control_mode": "absolute joint 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": 12
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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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