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omx_multicubes_lawam

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LeRobot
Safetensors
lawam
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maximellerbach commited on
Commit
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Upload DataProcessorPipeline

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Files changed (2) hide show
  1. policy_postprocessor.json +66 -0
  2. policy_postprocessor_step_2_unnormalizer_processor.safetensors +3 -0
policy_postprocessor.json ADDED
@@ -0,0 +1,66 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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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": "lawam_clip_actions",
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+ "config": {}
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+ },
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+ {
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+ "registry_name": "lawam_pre_snap_gripper",
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+ "config": {}
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+ },
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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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+ "observation.state": {
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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.images.wrist": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 480,
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+ 640
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+ ]
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+ },
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+ "observation.images.top": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 480,
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+ 640
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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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+ 6
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+ ]
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+ }
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+ },
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+ "norm_map": {
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+ "VISUAL": "IDENTITY",
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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_2_unnormalizer_processor.safetensors"
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+ },
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+ {
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+ "registry_name": "lawam_binarize_gripper",
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+ "config": {}
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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_2_unnormalizer_processor.safetensors ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:37ecddb9b7962ee964be8be5761c107b7e5ad103d200bfe41e53597ba3be330a
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+ size 7544