| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "dm05_task_processor", |
| "config": { |
| "default_task": "Execute the robot action." |
| } |
| }, |
| { |
| "registry_name": "relative_actions_processor", |
| "config": { |
| "enabled": false, |
| "exclude_joints": [ |
| "gripper" |
| ], |
| "action_names": [ |
| "left_joint_0", |
| "left_joint_1", |
| "left_joint_2", |
| "left_joint_3", |
| "left_joint_4", |
| "left_joint_5", |
| "left_joint_6", |
| "right_joint_0", |
| "right_joint_1", |
| "right_joint_2", |
| "right_joint_3", |
| "right_joint_4", |
| "right_joint_5", |
| "right_joint_6" |
| ] |
| } |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-06, |
| "features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 14 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 14 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
| }, |
| "normalize_observation_keys": [ |
| "observation.state" |
| ] |
| }, |
| "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors" |
| }, |
| { |
| "registry_name": "dm05_clip_normalized_processor", |
| "config": { |
| "clip_state": false, |
| "clip_action": false |
| } |
| }, |
| { |
| "registry_name": "dm05_state_bins_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cpu", |
| "float_dtype": null |
| } |
| }, |
| { |
| "registry_name": "dm05_tokenizer_processor", |
| "config": { |
| "processor_name_or_path": "dm05_processor", |
| "tokenizer_max_length": 1536, |
| "add_state": true, |
| "image_keys": [ |
| "observation.images.cam_high", |
| "observation.images.cam_left_wrist", |
| "observation.images.cam_right_wrist" |
| ], |
| "robot_type": "Aloha", |
| "memory_image_key": "observation.images.cam_high", |
| "memory_frames": 20, |
| "default_task": "Execute the robot action." |
| }, |
| "artifacts": { |
| "processor_name_or_path": "dm05_processor" |
| } |
| } |
| ] |
| } |
