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Task_800009_T-Rex

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Task_800009_T-Rex
File size: 2,795 Bytes
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{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "trex_pressure_tactile_v1",
      "config": {
        "left_key": "observation.tactile.left",
        "right_key": "observation.tactile.right",
        "history_size": 16,
        "pressure_scale": 255.0,
        "baseline_mode": "zero",
        "baseline_value": 0.0
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.state": {
            "type": "STATE",
            "shape": [
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            ]
          },
          "observation.images.rgb.cam_right_head": {
            "type": "VISUAL",
            "shape": [
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            ]
          },
          "observation.tactile.left": {
            "type": "STATE",
            "shape": [
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            ]
          },
          "observation.tactile.right": {
            "type": "STATE",
            "shape": [
              5,
              3,
              3
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              54
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "IDENTITY",
          "ACTION": "MIN_MAX"
        }
      },
      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
    },
    {
      "registry_name": "trex_qwen3_vl_v1",
      "config": {
        "processor_name": "miniFranka/T-Rex_midtrain_mecka23k_ucb100_vqvae_epoch6",
        "processor_subfolder": "processor",
        "image_min_pixels": 100352,
        "image_max_pixels": 401408,
        "input_features": {
          "observation.state": {
            "type": "STATE",
            "shape": [
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            ]
          },
          "observation.images.rgb.cam_right_head": {
            "type": "VISUAL",
            "shape": [
              3,
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              1280
            ]
          },
          "observation.tactile.left": {
            "type": "STATE",
            "shape": [
              5,
              3,
              3
            ]
          },
          "observation.tactile.right": {
            "type": "STATE",
            "shape": [
              5,
              3,
              3
            ]
          }
        }
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}