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.state": {
            "type": "STATE",
            "shape": [
              26
            ]
          },
          "observation.images.cam_left_high": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              848
            ]
          },
          "observation.images.cam_third": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.images.left_tactile_little_finger_tip": {
            "type": "VISUAL",
            "shape": [
              3,
              3,
              3
            ]
          },
          "observation.images.left_tactile_little_finger_nail": {
            "type": "VISUAL",
            "shape": [
              3,
              12,
              8
            ]
          },
          "observation.images.left_tactile_little_finger_pad": {
            "type": "VISUAL",
            "shape": [
              3,
              10,
              8
            ]
          },
          "observation.images.left_tactile_ring_finger_tip": {
            "type": "VISUAL",
            "shape": [
              3,
              3,
              3
            ]
          },
          "observation.images.left_tactile_ring_finger_nail": {
            "type": "VISUAL",
            "shape": [
              3,
              12,
              8
            ]
          },
          "observation.images.left_tactile_ring_finger_pad": {
            "type": "VISUAL",
            "shape": [
              3,
              10,
              8
            ]
          },
          "observation.images.left_tactile_middle_finger_tip": {
            "type": "VISUAL",
            "shape": [
              3,
              3,
              3
            ]
          },
          "observation.images.left_tactile_middle_finger_nail": {
            "type": "VISUAL",
            "shape": [
              3,
              12,
              8
            ]
          },
          "observation.images.left_tactile_middle_finger_pad": {
            "type": "VISUAL",
            "shape": [
              3,
              10,
              8
            ]
          },
          "observation.images.left_tactile_index_finger_tip": {
            "type": "VISUAL",
            "shape": [
              3,
              3,
              3
            ]
          },
          "observation.images.left_tactile_index_finger_nail": {
            "type": "VISUAL",
            "shape": [
              3,
              12,
              8
            ]
          },
          "observation.images.left_tactile_index_finger_pad": {
            "type": "VISUAL",
            "shape": [
              3,
              10,
              8
            ]
          },
          "observation.images.left_tactile_thumb_tip": {
            "type": "VISUAL",
            "shape": [
              3,
              3,
              3
            ]
          },
          "observation.images.left_tactile_thumb_nail": {
            "type": "VISUAL",
            "shape": [
              3,
              12,
              8
            ]
          },
          "observation.images.left_tactile_thumb_middle": {
            "type": "VISUAL",
            "shape": [
              3,
              3,
              3
            ]
          },
          "observation.images.left_tactile_thumb_pad": {
            "type": "VISUAL",
            "shape": [
              3,
              12,
              8
            ]
          },
          "observation.images.left_tactile_palm": {
            "type": "VISUAL",
            "shape": [
              3,
              8,
              14
            ]
          },
          "observation.images.right_tactile_little_finger_tip": {
            "type": "VISUAL",
            "shape": [
              3,
              3,
              3
            ]
          },
          "observation.images.right_tactile_little_finger_nail": {
            "type": "VISUAL",
            "shape": [
              3,
              12,
              8
            ]
          },
          "observation.images.right_tactile_little_finger_pad": {
            "type": "VISUAL",
            "shape": [
              3,
              10,
              8
            ]
          },
          "observation.images.right_tactile_ring_finger_tip": {
            "type": "VISUAL",
            "shape": [
              3,
              3,
              3
            ]
          },
          "observation.images.right_tactile_ring_finger_nail": {
            "type": "VISUAL",
            "shape": [
              3,
              12,
              8
            ]
          },
          "observation.images.right_tactile_ring_finger_pad": {
            "type": "VISUAL",
            "shape": [
              3,
              10,
              8
            ]
          },
          "observation.images.right_tactile_middle_finger_tip": {
            "type": "VISUAL",
            "shape": [
              3,
              3,
              3
            ]
          },
          "observation.images.right_tactile_middle_finger_nail": {
            "type": "VISUAL",
            "shape": [
              3,
              12,
              8
            ]
          },
          "observation.images.right_tactile_middle_finger_pad": {
            "type": "VISUAL",
            "shape": [
              3,
              10,
              8
            ]
          },
          "observation.images.right_tactile_index_finger_tip": {
            "type": "VISUAL",
            "shape": [
              3,
              3,
              3
            ]
          },
          "observation.images.right_tactile_index_finger_nail": {
            "type": "VISUAL",
            "shape": [
              3,
              12,
              8
            ]
          },
          "observation.images.right_tactile_index_finger_pad": {
            "type": "VISUAL",
            "shape": [
              3,
              10,
              8
            ]
          },
          "observation.images.right_tactile_thumb_tip": {
            "type": "VISUAL",
            "shape": [
              3,
              3,
              3
            ]
          },
          "observation.images.right_tactile_thumb_nail": {
            "type": "VISUAL",
            "shape": [
              3,
              12,
              8
            ]
          },
          "observation.images.right_tactile_thumb_middle": {
            "type": "VISUAL",
            "shape": [
              3,
              3,
              3
            ]
          },
          "observation.images.right_tactile_thumb_pad": {
            "type": "VISUAL",
            "shape": [
              3,
              12,
              8
            ]
          },
          "observation.images.right_tactile_palm": {
            "type": "VISUAL",
            "shape": [
              3,
              8,
              14
            ]
          },
          "observation.images.carpet_0": {
            "type": "VISUAL",
            "shape": [
              3,
              32,
              32
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              26
            ]
          }
        },
        "norm_map": {
          "VISUAL": "MEAN_STD",
          "STATE": "MEAN_STD",
          "ACTION": "MEAN_STD"
        }
      },
      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
    }
  ]
}