Upload DataProcessorPipeline
Browse files
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": "to_batch_processor",
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"config": {}
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},
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{
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"registry_name": "normalizer_processor",
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"config": {
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"eps": 1e-08,
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"features": {
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"observation.images.base": {
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"type": "VISUAL",
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"shape": [
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480,
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640,
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3
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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32
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]
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},
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"sparse_stage": {
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"type": "REWARD",
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"shape": [
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9,
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1
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]
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},
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"sparse_progress": {
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"type": "REWARD",
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"shape": [
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9,
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1
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]
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}
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},
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"norm_map": {
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"VISUAL": "IDENTITY",
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"STATE": "MEAN_STD",
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"LANGUAGE": "IDENTITY",
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"REWARD": "IDENTITY"
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}
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},
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"state_file": "policy_preprocessor_step_1_normalizer_processor.safetensors"
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},
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{
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"class": "lerobot.policies.sarm.processor_sarm.SARMEncodingProcessorStep",
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"config": {}
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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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policy_preprocessor_step_1_normalizer_processor.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:5727bdb19fbe881bbc9b55825dc923e0f347ab7d878c33fe36c9a0457bee2d30
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size 9456
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