| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": { |
| "observation.images.external": "observation.images.image", |
| "observation.images.wrist": "observation.images.wrist_image" |
| } |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "molmoact2_masked_normalizer", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.images.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.wrist_image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 8 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 8 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_2_molmoact2_masked_normalizer.safetensors" |
| }, |
| { |
| "registry_name": "molmoact2_clamp_normalized", |
| "config": {} |
| }, |
| { |
| "registry_name": "molmoact2_pack_inputs", |
| "config": { |
| "checkpoint_path": "allenai/MolmoAct2-LIBERO", |
| "checkpoint_revision": null, |
| "checkpoint_force_download": false, |
| "trust_remote_code": true, |
| "action_mode": "both", |
| "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer", |
| "image_keys": [ |
| "observation.images.image", |
| "observation.images.wrist_image" |
| ], |
| "setup_type": "single franka robotic arm in libero", |
| "control_mode": "delta end-effector pose", |
| "normalize_language": true, |
| "add_setup_tokens": true, |
| "add_control_tokens": true, |
| "num_state_tokens": 256, |
| "max_sequence_length": null, |
| "chunk_size": 10, |
| "max_action_dim": 32, |
| "env_action_dim": 7 |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
