Upload DataProcessorPipeline

policy_preprocessor.json

@@ -0,0 +1,113 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "molmoact2_state_frame_transform",
+      "config": {
+        "joint_signs": null,
+        "joint_offsets": null
+      }
+    },
+    {
+      "registry_name": "molmoact2_masked_normalizer",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              6
+            ]
+          },
+          "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_preprocessor_step_3_molmoact2_masked_normalizer.safetensors"
+    },
+    {
+      "registry_name": "molmoact2_clamp_normalized",
+      "config": {}
+    },
+    {
+      "registry_name": "molmoact2_normalize_task",
+      "config": {}
+    },
+    {
+      "registry_name": "render_messages_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "rendered_messages_to_task",
+      "config": {}
+    },
+    {
+      "registry_name": "molmoact2_pack_inputs",
+      "config": {
+        "checkpoint_path": "allenai/MolmoAct2-SO100_101",
+        "checkpoint_revision": null,
+        "checkpoint_force_download": false,
+        "action_mode": "continuous",
+        "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer",
+        "image_keys": [
+          "observation.images.wrist",
+          "observation.images.top"
+        ],
+        "allow_image_key_fallback": false,
+        "setup_type": "single so100/so101 robotic arm in molmoact2",
+        "control_mode": "absolute joint pose",
+        "normalize_language": true,
+        "add_setup_tokens": true,
+        "add_control_tokens": true,
+        "num_state_tokens": 256,
+        "max_sequence_length": null,
+        "chunk_size": 30,
+        "max_action_dim": 32,
+        "env_action_dim": 6,
+        "advantage_prefix": ""
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}

policy_preprocessor_step_3_molmoact2_masked_normalizer.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2be0caaae9279c14c9e1dbb4aaf5abb4f0e6b0234d305753f8c3a1f295d1e036
+size 7736