| { | |
| "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.camera_front": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 2 | |
| ] | |
| }, | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 4 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "ACTION": "MEAN_STD", | |
| "STATE": "MEAN_STD", | |
| "VISUAL": "IDENTITY" | |
| } | |
| }, | |
| "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors" | |
| }, | |
| { | |
| "registry_name": "eo1_conversation_template_processor", | |
| "config": { | |
| "input_features": { | |
| "observation.images.camera_front": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 2 | |
| ] | |
| } | |
| }, | |
| "chunk_size": 16 | |
| } | |
| }, | |
| { | |
| "registry_name": "eo1_qwen_processor", | |
| "config": { | |
| "processor_name": "lerobot/eo1-base", | |
| "image_min_pixels": 50176, | |
| "image_max_pixels": 100352, | |
| "use_fast_processor": true | |
| } | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cuda", | |
| "float_dtype": null | |
| } | |
| } | |
| ] | |
| } |