| { |
| "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": [ |
| 54 |
| ] |
| }, |
| "observation.images.rgb.cam_right_head": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 720, |
| 1280 |
| ] |
| }, |
| "observation.tactile.left": { |
| "type": "STATE", |
| "shape": [ |
| 5, |
| 3, |
| 3 |
| ] |
| }, |
| "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": [ |
| 54 |
| ] |
| }, |
| "observation.images.rgb.cam_right_head": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 720, |
| 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 |
| } |
| } |
| ] |
| } |
