| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
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| } |
| } |
| }, |
| { |
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| }, |
| { |
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| "joint_offsets": null |
| } |
| }, |
| { |
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| "joint_offsets": null |
| } |
| }, |
| { |
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| "stats_path": null, |
| "camera_order": [ |
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| ], |
| "image_size": [ |
| 256, |
| 256 |
| ], |
| "image_preprocessing": "stretch", |
| "image_keys": [ |
| "observation.images.image", |
| "observation.images.wrist_image" |
| ], |
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| "normalize_language": true, |
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| "device": "cuda", |
| "dtype": "bfloat16", |
| "stream_key": "perceptron_isaac_stream", |
| "metadata_key": "perceptron_isaac_render_meta", |
| "target_fps": 20.0, |
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| "fast_processor_path": "../fast_processor_pinned", |
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| "vector_max_states": 128, |
| "dataset_name": "libero", |
| "robot_type": "libero", |
| "action_conditioning": false, |
| "action_conditioning_role": "user", |
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| "render_metadata": null, |
| "train_clip_normalized_actions": true, |
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| "train_max_sequence_length": 4096, |
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| }, |
| "state_file": "policy_preprocessor_step_4_perceptron_isaac_mharmony_pack.safetensors" |
| }, |
| { |
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| "device": "cuda", |
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| } |
| } |
| ] |
| } |
