policy_preprocessor.json

{
  "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_rgb": {
            "type": "VISUAL",
            "shape": [
              3,
              96,
              96
            ]
          },
          "observation.images.left_wrist_rgb": {
            "type": "VISUAL",
            "shape": [
              3,
              96,
              96
            ]
          },
          "observation.images.right_wrist_rgb": {
            "type": "VISUAL",
            "shape": [
              3,
              96,
              96
            ]
          },
          "observation.state.left_arm": {
            "type": "STATE",
            "shape": [
              6
            ]
          },
          "observation.state.right_arm": {
            "type": "STATE",
            "shape": [
              6
            ]
          },
          "observation.state.left_gripper": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.state.right_gripper": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              14
            ]
          },
          "action.left_gripper": {
            "type": "ACTION",
            "shape": [
              1
            ]
          },
          "action.right_gripper": {
            "type": "ACTION",
            "shape": [
              1
            ]
          },
          "action.chassis.velocities": {
            "type": "ACTION",
            "shape": [
              6
            ]
          },
          "action.torso.velocities": {
            "type": "ACTION",
            "shape": [
              6
            ]
          },
          "action.left_arm": {
            "type": "ACTION",
            "shape": [
              6
            ]
          },
          "action.right_arm": {
            "type": "ACTION",
            "shape": [
              6
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              14
            ]
          }
        },
        "norm_map": {
          "VISUAL": "MEAN_STD",
          "STATE": "MIN_MAX",
          "ACTION": "MIN_MAX"
        }
      },
      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
    }
  ]
}