Upload DataProcessorPipeline

policy_preprocessor.json

@@ -11,42 +11,46 @@
       "registry_name": "to_batch_processor",
       "config": {}
     },
-    {
-      "registry_name": "groot_pack_inputs_v3",
-      "config": {
-        "state_horizon": 1,
-        "action_horizon": 16,
-        "max_state_dim": 64,
-        "max_action_dim": 32,
-        "language_key": "task",
-        "formalize_language": false,
-        "embodiment_tag": "new_embodiment",
-        "embodiment_mapping": {
-          "new_embodiment": 31,
-          "oxe_droid": 17,
-          "agibot_genie1": 26,
-          "gr1": 24,
-          "so100": 2,
-          "unitree_g1": 3
-        },
-        "normalize_min_max": true
-      },
-      "state_file": "policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors"
-    },
-    {
-      "registry_name": "groot_eagle_encode_v3",
-      "config": {}
-    },
-    {
-      "registry_name": "groot_eagle_collate_v3",
-      "config": {}
-    },
     {
       "registry_name": "device_processor",
       "config": {
-        "device": "cuda",
+        "device": "mps",
         "float_dtype": null
       }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.image": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              256,
+              256
+            ]
+          },
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              32
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              32
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
+        }
+      },
+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
     }
   ]
 }

policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52e75e88fc56991f5a8fd102dcea0ff951e5b824ff4a5366633eb128362ebaee
+size 8528