| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
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| } |
| }, |
| { |
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| }, |
| { |
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| "embodiment_tag": "new_embodiment", |
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| "real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26, |
| "real_r1_pro_sharpa_relative_eef_mecka": 26, |
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| "real_g1_relative_eef_absolute_joints": 25, |
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| "real_g1_relative_eef_relative_joints": 25, |
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| "oxe_droid_relative_eef_relative_joint_3view": 24, |
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| "oxe_droid_relative_eef": 24, |
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| "xdof_relative_joint": 28, |
| "simpler_env_google": 0, |
| "simpler_env_widowx": 1, |
| "libero_sim": 2, |
| "droid_sim": 3 |
| }, |
| "normalize_min_max": true, |
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| "clip_outliers": true, |
| "use_percentiles": true, |
| "video_modality_keys": null, |
| "raw_stats": {}, |
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| }, |
| "state_file": "policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors" |
| }, |
| { |
| "registry_name": "groot_n1_7_vlm_encode_v1", |
| "config": { |
| "model_name": "nvidia/Cosmos-Reason2-2B", |
| "image_crop_size": [ |
| 230, |
| 230 |
| ], |
| "image_target_size": [ |
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| 256 |
| ], |
| "shortest_image_edge": 256, |
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| "use_albumentations": true, |
| "letter_box_transform": false, |
| "device": "cuda" |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
