| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.images.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.images.image2": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 8 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MIN_MAX", |
| "ACTION": "MIN_MAX" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors" |
| }, |
| { |
| "registry_name": "longwam_observations", |
| "config": { |
| "camera_keys": [ |
| "observation.images.image", |
| "observation.images.image2" |
| ], |
| "camera_size": [ |
| 224, |
| 224 |
| ], |
| "image_dtype": "bfloat16" |
| } |
| }, |
| { |
| "registry_name": "longwam_action_clamp", |
| "config": {} |
| }, |
| { |
| "registry_name": "longwam_prompt", |
| "config": { |
| "prompt_template": "A video recorded from a robot's point of view executing the following instruction: {task}" |
| } |
| }, |
| { |
| "registry_name": "tokenizer_processor", |
| "config": { |
| "max_length": 128, |
| "task_key": "task", |
| "padding_side": "right", |
| "padding": "max_length", |
| "truncation": true, |
| "tokenizer_name": "google/umt5-xxl" |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cpu", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
|
|
