File size: 2,993 Bytes
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"name": "policy_preprocessor",
"steps": [
{
"registry_name": "rename_observations_processor",
"config": {
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}
},
{
"registry_name": "to_batch_processor",
"config": {}
},
{
"registry_name": "molmoact2_masked_normalizer",
"config": {
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"features": {
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},
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]
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}
},
"norm_map": {
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"STATE": "QUANTILES",
"ACTION": "QUANTILES"
}
},
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},
{
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{
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"action_mode": "both",
"discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer",
"image_keys": [
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],
"setup_type": "single franka robotic arm in libero",
"control_mode": "delta end-effector pose",
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"chunk_size": 10,
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}
},
{
"registry_name": "device_processor",
"config": {
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}
}
]
}
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