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": "tokenizer_processor",
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"config": {
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"max_length": 77,
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"task_key": "task",
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"padding_side": "right",
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"padding": "max_length",
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"truncation": true,
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"tokenizer_name": "openai/clip-vit-base-patch16"
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}
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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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"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.head_rgb": {
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"type": "VISUAL",
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"shape": [
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3,
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720,
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1280
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]
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},
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"observation.images.head_right_rgb": {
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"type": "VISUAL",
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"shape": [
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3,
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720,
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1280
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| 51 |
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]
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| 52 |
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},
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"observation.images.left_wrist_rgb": {
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"type": "VISUAL",
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"shape": [
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3,
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360,
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640
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]
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},
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"observation.images.right_wrist_rgb": {
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"type": "VISUAL",
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"shape": [
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3,
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360,
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640
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]
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},
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"observation.state.left_arm": {
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"type": "STATE",
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"shape": [
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6
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]
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},
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"observation.state.left_arm.velocities": {
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"type": "STATE",
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"shape": [
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6
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]
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},
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"observation.state.right_arm": {
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"type": "STATE",
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"shape": [
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6
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]
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},
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"observation.state.right_arm.velocities": {
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"type": "STATE",
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"shape": [
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6
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]
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},
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"observation.state.chassis.imu": {
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"type": "STATE",
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"shape": [
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10
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]
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},
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"observation.state.chassis": {
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"type": "STATE",
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"shape": [
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3
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]
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},
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"observation.state.chassis.velocities": {
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"type": "STATE",
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"shape": [
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3
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]
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},
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"observation.state.torso": {
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"type": "STATE",
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"shape": [
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4
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]
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},
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"observation.state.torso.velocities": {
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"type": "STATE",
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"shape": [
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4
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]
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},
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"observation.state.left_gripper": {
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"type": "STATE",
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"shape": [
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1
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]
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},
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"observation.state.right_gripper": {
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"type": "STATE",
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"shape": [
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1
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]
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},
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"observation.state.left_ee_pose": {
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"type": "STATE",
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"shape": [
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7
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]
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},
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"observation.state.right_ee_pose": {
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| 142 |
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"type": "STATE",
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| 143 |
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"shape": [
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| 144 |
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7
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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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14
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]
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},
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"action.left_gripper": {
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"type": "ACTION",
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"shape": [
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| 156 |
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1
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]
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},
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"action.right_gripper": {
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"type": "ACTION",
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"shape": [
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1
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]
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},
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"action.chassis.velocities": {
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| 166 |
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"type": "ACTION",
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"shape": [
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| 168 |
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6
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]
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},
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"action.torso.velocities": {
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"type": "ACTION",
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| 173 |
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"shape": [
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| 174 |
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6
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| 175 |
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]
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},
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| 177 |
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"action.left_arm": {
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| 178 |
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"type": "ACTION",
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| 179 |
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"shape": [
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| 180 |
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6
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| 181 |
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]
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| 182 |
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},
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| 183 |
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"action.right_arm": {
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| 184 |
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"type": "ACTION",
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| 185 |
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"shape": [
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| 186 |
+
6
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| 187 |
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]
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| 188 |
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},
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| 189 |
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"action": {
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| 190 |
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"type": "ACTION",
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| 191 |
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"shape": [
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| 192 |
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14
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| 193 |
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]
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| 194 |
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}
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| 195 |
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},
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| 196 |
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"norm_map": {
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| 197 |
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"VISUAL": "MEAN_STD",
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| 198 |
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"STATE": "MIN_MAX",
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| 199 |
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"ACTION": "MIN_MAX"
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| 200 |
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}
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| 201 |
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},
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| 202 |
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"state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors"
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| 203 |
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}
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| 204 |
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]
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| 205 |
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}
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policy_preprocessor_step_4_normalizer_processor.safetensors
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:fa492739f23f5ae0ed08ea40b126c007979a6f515fa61f923c462967b0aaf093
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| 3 |
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size 13944
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