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multitask_dit_260518_r1lite_diff

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multi_task_dit
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Upload DataProcessorPipeline

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Files changed (2) hide show
  1. policy_postprocessor.json +68 -0
  2. policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
policy_postprocessor.json ADDED
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+ {
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+ "name": "policy_postprocessor",
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+ "steps": [
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+ {
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+ "registry_name": "unnormalizer_processor",
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+ "config": {
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+ "eps": 1e-08,
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+ "features": {
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+ "action.left_gripper": {
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+ "type": "ACTION",
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+ "shape": [
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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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+ "type": "ACTION",
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+ "shape": [
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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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+ "shape": [
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+ 6
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+ ]
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+ },
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+ "action.left_arm": {
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+ "type": "ACTION",
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+ "shape": [
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+ 6
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+ ]
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+ },
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+ "action.right_arm": {
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+ "type": "ACTION",
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+ "shape": [
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+ 6
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+ ]
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+ },
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+ "action": {
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+ "type": "ACTION",
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+ "shape": [
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+ 14
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+ ]
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+ }
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+ },
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+ "norm_map": {
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+ "VISUAL": "MEAN_STD",
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+ "STATE": "MIN_MAX",
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+ "ACTION": "MIN_MAX"
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+ }
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+ },
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+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
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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": "cpu",
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+ "float_dtype": null
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+ }
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+ }
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+ ]
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+ }
policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ size 13944