| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "delta_actions_processor", |
| "config": { |
| "enabled": false, |
| "exclude_joints": [ |
| "gripper" |
| ], |
| "action_names": [ |
| "actions" |
| ] |
| } |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.images.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.image2": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 8 |
| ] |
| }, |
| "observation.images.empty_camera_0": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "norm_map": { |
| "ACTION": "MEAN_STD", |
| "STATE": "MEAN_STD", |
| "VISUAL": "IDENTITY" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" |
| }, |
| { |
| "registry_name": "pi05_prepare_state_tokenizer_processor_step", |
| "config": { |
| "max_state_dim": 32, |
| "task_key": "task", |
| "neutralize_task": false, |
| "preserve_t5_task": true, |
| "neutral_prompt": "perform the task", |
| "t5_task_key": "pi05_t5_task", |
| "t5_eval_mode": "normal", |
| "wrong_t5_text": "turn on the stove", |
| "preserve_canonical_t5_task": false, |
| "canonical_t5_task_key": "pi05_canonical_t5_task", |
| "preserve_teacher_prompt": false, |
| "teacher_task_key": "pi05_teacher_task" |
| } |
| }, |
| { |
| "registry_name": "pi05_t5_tokenizer_processor_step", |
| "config": { |
| "tokenizer_name": "google-t5/t5-large", |
| "max_length": 16, |
| "task_key": "pi05_t5_task", |
| "output_tokens_key": "observation.pi05_t5.tokens", |
| "output_attention_mask_key": "observation.pi05_t5.attention_mask", |
| "padding_side": "right", |
| "padding": "max_length", |
| "truncation": true |
| } |
| }, |
| { |
| "registry_name": "tokenizer_processor", |
| "config": { |
| "max_length": 64, |
| "task_key": "task", |
| "padding_side": "right", |
| "padding": "max_length", |
| "truncation": true, |
| "tokenizer_name": "google/paligemma-3b-pt-224" |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
|
|
