| { | |
| "name": "policy_preprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "rename_observations_processor", | |
| "config": { | |
| "rename_map": {} | |
| } | |
| }, | |
| { | |
| "registry_name": "to_batch_processor", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cuda", | |
| "float_dtype": null | |
| } | |
| }, | |
| { | |
| "registry_name": "normalizer_processor", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "observation.images.head_left": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 360, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.wrist_right": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 360, | |
| 640 | |
| ] | |
| }, | |
| "observation.state.joint_position": { | |
| "type": "STATE", | |
| "shape": [ | |
| 8 | |
| ] | |
| }, | |
| "observation.state.joint_velocity": { | |
| "type": "STATE", | |
| "shape": [ | |
| 8 | |
| ] | |
| }, | |
| "observation.state.ee_pose_right": { | |
| "type": "STATE", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.state.gripper_position": { | |
| "type": "STATE", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 8 | |
| ] | |
| }, | |
| "action.joint_position": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 8 | |
| ] | |
| }, | |
| "action.joint_velocity": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 8 | |
| ] | |
| }, | |
| "action.ee_pose_right": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "action.gripper_position": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 8 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| } | |
| }, | |
| "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" | |
| } | |
| ] | |
| } |