Upload DataProcessorPipeline

.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+tokenizer/tokenizer.json filter=lfs diff=lfs merge=lfs -text

policy_preprocessor.json

@@ -0,0 +1,92 @@
+{
+  "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": [
+          "gripper"
+        ],
+        "action_names": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              8
+            ]
+          },
+          "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.ego": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              720,
+              1280
+            ]
+          },
+          "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": "tokenizer"
+      },
+      "artifacts": {
+        "tokenizer_name": "tokenizer"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}

policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4d31c2ac07cb4f647af8aba54ad30f21d4c3dcffbdd5748c64950c710de41c0
+size 7696

tokenizer/tokenizer.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7336bb4ce016bf8543de94e3a17c3d6ca502a6fc8628fec6ed88893639d7a296
+size 34387384

tokenizer/tokenizer_config.json

@@ -0,0 +1,26 @@
+{
+  "backend": "tokenizers",
+  "bos_token": "<bos>",
+  "clean_up_tokenization_spaces": false,
+  "eos_token": "<eos>",
+  "extra_special_tokens": [
+    "<image>"
+  ],
+  "is_local": true,
+  "mask_token": "<mask>",
+  "max_length": 200,
+  "model_max_length": 1000000000000000019884624838656,
+  "pad_to_multiple_of": null,
+  "pad_token": "<pad>",
+  "pad_token_type_id": 0,
+  "padding_side": "right",
+  "processor_class": "PaliGemmaProcessor",
+  "sp_model_kwargs": {},
+  "spaces_between_special_tokens": false,
+  "stride": 0,
+  "tokenizer_class": "GemmaTokenizer",
+  "truncation_side": "right",
+  "truncation_strategy": "longest_first",
+  "unk_token": "<unk>",
+  "use_default_system_prompt": false
+}