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jeremyhx commited on
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Upload DataProcessorPipeline

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Files changed (2) hide show
  1. policy_preprocessor.json +130 -0
  2. policy_preprocessor_step_3_molmoact2_masked_normalizer.safetensors +3 -0
policy_preprocessor.json ADDED
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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": "molmoact2_state_frame_transform",
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+ "config": {
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+ "joint_signs": null,
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+ "joint_offsets": null
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+ }
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+ },
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+ {
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+ "registry_name": "molmoact2_masked_normalizer",
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+ "config": {
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+ "eps": 1e-08,
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+ "features": {
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+ "observation.state": {
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+ "type": "STATE",
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+ "shape": [
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+ "type": "VISUAL",
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+ ]
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+ },
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+ "observation.images.wrist": {
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+ "type": "VISUAL",
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+ }
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+ },
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+ "norm_map": {
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+ "VISUAL": "IDENTITY"
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+ }
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+ },
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+ },
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+ {
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+ "registry_name": "molmoact2_clamp_normalized",
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+ "config": {
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+ }
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+ }
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+ },
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+ {
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+ "registry_name": "molmoact2_pack_inputs",
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+ "config": {
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+ "checkpoint_path": "allenai/MolmoAct2",
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+ "checkpoint_revision": null,
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+ "checkpoint_force_download": false,
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+ "action_mode": "continuous",
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+ "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer",
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+ "image_keys": [
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+ "observation.images.top",
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+ "observation.images.wrist",
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+ "observation.images.base"
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+ ],
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+ "allow_image_key_fallback": true,
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+ "setup_type": "single robotic arm",
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+ "control_mode": "absolute joint pose",
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+ "env_action_dim": 7
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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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+ }
policy_preprocessor_step_3_molmoact2_masked_normalizer.safetensors ADDED
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