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": "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": "relative_actions_processor",
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"config": {
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"enabled": false,
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"exclude_joints": [
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"gripper"
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],
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"action_names": [
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"kLeftShoulderPitch",
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"kLeftShoulderRoll",
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"kLeftShoulderYaw",
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"kLeftElbow",
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"kLeftWristRoll",
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"kLeftWristPitch",
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"kLeftWristYaw",
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"kRightShoulderPitch",
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"kRightShoulderRoll",
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"kRightShoulderYaw",
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"kRightElbow",
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"kRightWristRoll",
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"kRightWristPitch",
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"kRightWristYaw",
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"kLeftGripper",
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"kRightGripper"
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]
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}
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},
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{
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"registry_name": "groot_pack_inputs_v3",
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"config": {
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"state_horizon": 1,
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"action_horizon": 16,
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"max_state_dim": 64,
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"max_action_dim": 32,
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"language_key": "task",
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"formalize_language": false,
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"embodiment_tag": "new_embodiment",
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"embodiment_mapping": {
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"new_embodiment": 31,
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"oxe_droid": 17,
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"agibot_genie1": 26,
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"gr1": 24,
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"so100": 2,
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"unitree_g1": 3
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},
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"normalize_min_max": true
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},
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"state_file": "policy_preprocessor_step_3_groot_pack_inputs_v3.safetensors"
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},
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{
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"registry_name": "groot_eagle_encode_v3",
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"config": {}
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},
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{
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"registry_name": "groot_eagle_collate_v3",
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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_3_groot_pack_inputs_v3.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:f087912b61789578df6f950cb0b43ee9acb116a192d41e53c526d77b39cbbea9
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size 11312
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