| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "act_romoya_preprocess_v1", |
| "config": { |
| "action_mode": "delta_joint_gripper_do1", |
| "state_feature_names": [ |
| "joint1.pos", |
| "joint2.pos", |
| "joint3.pos", |
| "joint4.pos", |
| "joint5.pos", |
| "joint6.pos", |
| "gripper.pos", |
| "DO_1" |
| ], |
| "action_feature_names": [ |
| "joint1.pos", |
| "joint2.pos", |
| "joint3.pos", |
| "joint4.pos", |
| "joint5.pos", |
| "joint6.pos", |
| "gripper.pos", |
| "DO_1" |
| ], |
| "binary_state": [ |
| null, |
| null, |
| null, |
| null, |
| null, |
| null, |
| null, |
| 0.5 |
| ], |
| "binary_action": [ |
| null, |
| null, |
| null, |
| null, |
| null, |
| null, |
| null, |
| [ |
| 0.5, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "delta_action": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "state_feature_names_to_keep": [ |
| "joint1.pos", |
| "joint2.pos", |
| "joint3.pos", |
| "joint4.pos", |
| "joint5.pos", |
| "joint6.pos", |
| "gripper.pos", |
| "DO_1" |
| ], |
| "raw_observation_state_feature_names": [ |
| "joint1.pos", |
| "joint2.pos", |
| "joint3.pos", |
| "joint4.pos", |
| "joint5.pos", |
| "joint6.pos", |
| "gripper.pos", |
| "gripper.force", |
| "DO_0", |
| "DO_1", |
| "joint1.effort", |
| "joint2.effort", |
| "joint3.effort", |
| "joint4.effort", |
| "joint5.effort", |
| "joint6.effort", |
| "joint1.vel", |
| "joint2.vel", |
| "joint3.vel", |
| "joint4.vel", |
| "joint5.vel", |
| "joint6.vel", |
| "joint1.acc", |
| "joint2.acc", |
| "joint3.acc", |
| "joint4.acc", |
| "joint5.acc", |
| "joint6.acc", |
| "tcp.x", |
| "tcp.y", |
| "tcp.z", |
| "tcp.rx", |
| "tcp.ry", |
| "tcp.rz" |
| ], |
| "raw_action_feature_names": [ |
| "joint1.pos", |
| "joint2.pos", |
| "joint3.pos", |
| "joint4.pos", |
| "joint5.pos", |
| "joint6.pos", |
| "gripper.pos", |
| "gripper.force", |
| "DO_0", |
| "DO_1" |
| ], |
| "joint_action_names": [ |
| "joint1.pos", |
| "joint2.pos", |
| "joint3.pos", |
| "joint4.pos", |
| "joint5.pos", |
| "joint6.pos" |
| ], |
| "gripper_action_name": "gripper.pos", |
| "do_action_names": [ |
| "DO_1" |
| ], |
| "context_id": "act_romoya" |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 8 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 360, |
| 640 |
| ] |
| }, |
| "observation.images.top": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 360, |
| 640 |
| ] |
| }, |
| "observation.images.side": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 360, |
| 640 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 8 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors" |
| } |
| ] |
| } |
