File size: 2,620 Bytes
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"name": "policy_preprocessor",
"steps": [
{
"registry_name": "rename_observations_processor",
"config": {
"rename_map": {
"observation.images.Top camera": "observation.images.camera1",
"observation.images.Follower Cam": "observation.images.camera2"
}
}
},
{
"registry_name": "to_batch_processor",
"config": {}
},
{
"registry_name": "smolvla_new_line_processor",
"config": {}
},
{
"registry_name": "tokenizer_processor",
"config": {
"max_length": 48,
"task_key": "task",
"padding_side": "right",
"padding": "max_length",
"truncation": true,
"tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct"
}
},
{
"registry_name": "device_processor",
"config": {
"device": "cuda",
"float_dtype": null
}
},
{
"registry_name": "normalizer_processor",
"config": {
"eps": 1e-08,
"features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.camera1": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.camera2": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"norm_map": {
"VISUAL": "IDENTITY",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
}
},
"state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
}
]
} |