File size: 2,640 Bytes
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"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.head": {
"type": "VISUAL",
"shape": [
3,
224,
224
]
},
"observation.images.left_wrist": {
"type": "VISUAL",
"shape": [
3,
224,
224
]
},
"observation.images.right_wrist": {
"type": "VISUAL",
"shape": [
3,
224,
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]
},
"observation.state": {
"type": "STATE",
"shape": [
16
]
},
"action": {
"type": "ACTION",
"shape": [
16
]
}
},
"norm_map": {
"VISUAL": "IDENTITY",
"STATE": "QUANTILES",
"ACTION": "QUANTILES"
}
},
"state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
},
{
"registry_name": "pi05_prepare_state_tokenizer_processor_step",
"config": {}
},
{
"registry_name": "tokenizer_processor",
"config": {
"max_length": 200,
"task_key": "task",
"padding_side": "right",
"padding": "max_length",
"truncation": true,
"tokenizer_name": "google/paligemma-3b-pt-224"
}
},
{
"registry_name": "device_processor",
"config": {
"device": "cuda",
"float_dtype": null
}
}
]
}
|