CoolFace
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end-effector-trace-conditioning/molmoact2-500ep-eetc

sourceHugging Faceapache-2.0updated 8d agoView on Hugging Face
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policy_preprocessor.json100 linesDownload Raw Back to root
1{2  "name": "policy_preprocessor",3  "steps": [4    {5      "registry_name": "rename_observations_processor",6      "config": {7        "rename_map": {}8      }9    },10    {11      "registry_name": "to_batch_processor",12      "config": {}13    },14    {15      "registry_name": "molmoact2_state_frame_transform",16      "config": {17        "joint_signs": null,18        "joint_offsets": null19      }20    },21    {22      "registry_name": "molmoact2_masked_normalizer",23      "config": {24        "eps": 1e-08,25        "features": {26          "observation.images.middle": {27            "type": "VISUAL",28            "shape": [29              3,30              480,31              64032            ]33          },34          "observation.images.wrist": {35            "type": "VISUAL",36            "shape": [37              3,38              480,39              64040            ]41          },42          "observation.state": {43            "type": "STATE",44            "shape": [45              646            ]47          },48          "action": {49            "type": "ACTION",50            "shape": [51              652            ]53          }54        },55        "norm_map": {56          "ACTION": "MIN_MAX",57          "STATE": "MIN_MAX",58          "VISUAL": "IDENTITY"59        }60      },61      "state_file": "policy_preprocessor_step_3_molmoact2_masked_normalizer.safetensors"62    },63    {64      "registry_name": "molmoact2_clamp_normalized",65      "config": {}66    },67    {68      "registry_name": "molmoact2_pack_inputs",69      "config": {70        "checkpoint_path": "allenai/MolmoAct2",71        "checkpoint_revision": "e432d85f6e039edca44afb93c262f3084ab72a9c",72        "checkpoint_force_download": false,73        "action_mode": "continuous",74        "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer",75        "image_keys": [76          "observation.images.middle",77          "observation.images.wrist"78        ],79        "allow_image_key_fallback": false,80        "setup_type": "single so100/so101 robotic arm in molmoact2",81        "control_mode": "absolute joint pose",82        "normalize_language": true,83        "add_setup_tokens": true,84        "add_control_tokens": true,85        "num_state_tokens": 256,86        "max_sequence_length": null,87        "chunk_size": 30,88        "max_action_dim": 32,89        "env_action_dim": 690      }91    },92    {93      "registry_name": "device_processor",94      "config": {95        "device": "cuda",96        "float_dtype": null97      }98    }99  ]100}