File size: 3,232 Bytes
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"name": "policy_preprocessor",
"steps": [
{
"registry_name": "rename_observations_processor",
"config": {
"rename_map": {
"observation.images.head": "observation.images.image",
"observation.images.left_wrist": "observation.images.image2",
"observation.images.right_wrist": "observation.images.image3"
}
}
},
{
"registry_name": "to_batch_processor",
"config": {}
},
{
"registry_name": "tokenizer_processor",
"config": {
"max_length": 50,
"task_key": "task",
"padding_side": "right",
"padding": "max_length",
"truncation": true,
"tokenizer_name": "facebook/bart-large"
}
},
{
"registry_name": "xvla_add_domain_id",
"config": {
"domain_id": 0
}
},
{
"registry_name": "xvla_image_to_float",
"config": {
"image_keys": null,
"validate_range": true
}
},
{
"registry_name": "xvla_imagenet_normalize",
"config": {
"image_keys": null
}
},
{
"registry_name": "device_processor",
"config": {
"device": "cuda",
"float_dtype": null
}
},
{
"registry_name": "normalizer_processor",
"config": {
"eps": 1e-08,
"features": {
"observation.images.image": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.image2": {
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"shape": [
3,
256,
256
]
},
"observation.state": {
"type": "STATE",
"shape": [
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]
},
"observation.images.image3": {
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"shape": [
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224
]
},
"action": {
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"shape": [
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]
}
},
"norm_map": {
"STATE": "IDENTITY",
"ACTION": "MEAN_STD",
"VISUAL": "IDENTITY"
}
},
"state_file": "policy_preprocessor_step_7_normalizer_processor.safetensors"
}
]
}
|