File size: 1,279 Bytes
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],
"action_contract": {
"block_layout": "[v0, steering0, v1, steering1]",
"channels": [
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],
"normalization": "train_valid_rows_zscore",
"normalized_dataset_key_is_not_training_input": "action_normalized",
"source_key": "action",
"units": [
"meter_per_second",
"radian"
]
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],
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},
"frameskip": 2,
"image_layout": "uint8_NHWC_to_float_NCHW",
"image_normalization": "imagenet",
"image_size": 224,
"schema_name": "parking-lewm-preprocessor",
"schema_version": 2,
"state_contract": {
"channels": [
"x_body_center_m",
"y_body_center_m",
"sin_theta_tractor",
"cos_theta_tractor",
"velocity_mps",
"steering_rad"
],
"heading_encoding": "sin_cos",
"heading_unit": "radian",
"position_unit": "meter",
"reference": "body_center"
},
"task": "tractor"
}
|