| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "tokenizer_processor", |
| "config": { |
| "max_length": 77, |
| "task_key": "task", |
| "padding_side": "right", |
| "padding": "max_length", |
| "truncation": true, |
| "tokenizer_name": "openai/clip-vit-base-patch16" |
| } |
| }, |
| { |
| "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, |
| 720, |
| 1280 |
| ] |
| }, |
| "observation.images.head_right_rgb": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 720, |
| 1280 |
| ] |
| }, |
| "observation.images.left_wrist_rgb": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 360, |
| 640 |
| ] |
| }, |
| "observation.images.right_wrist_rgb": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 360, |
| 640 |
| ] |
| }, |
| "observation.state.left_arm": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.state.left_arm.velocities": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.state.right_arm": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.state.right_arm.velocities": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.state.chassis.imu": { |
| "type": "STATE", |
| "shape": [ |
| 10 |
| ] |
| }, |
| "observation.state.chassis": { |
| "type": "STATE", |
| "shape": [ |
| 3 |
| ] |
| }, |
| "observation.state.chassis.velocities": { |
| "type": "STATE", |
| "shape": [ |
| 3 |
| ] |
| }, |
| "observation.state.torso": { |
| "type": "STATE", |
| "shape": [ |
| 4 |
| ] |
| }, |
| "observation.state.torso.velocities": { |
| "type": "STATE", |
| "shape": [ |
| 4 |
| ] |
| }, |
| "observation.state.left_gripper": { |
| "type": "STATE", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "observation.state.right_gripper": { |
| "type": "STATE", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "observation.state.left_ee_pose": { |
| "type": "STATE", |
| "shape": [ |
| 7 |
| ] |
| }, |
| "observation.state.right_ee_pose": { |
| "type": "STATE", |
| "shape": [ |
| 7 |
| ] |
| }, |
| "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_4_normalizer_processor.safetensors" |
| } |
| ] |
| } |
