| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "relative_actions_processor", |
| "config": { |
| "enabled": false, |
| "exclude_joints": [ |
| "gripper" |
| ], |
| "action_names": [ |
| "ee.x", |
| "ee.y", |
| "ee.z", |
| "ee.qx", |
| "ee.qy", |
| "ee.qz", |
| "ee.qw", |
| "ee.gripper" |
| ] |
| } |
| }, |
| { |
| "registry_name": "relative_ee_actions", |
| "config": { |
| "enabled": true, |
| "state_frame": -1, |
| "rot_repr": "rot6d" |
| } |
| }, |
| { |
| "registry_name": "ee_state", |
| "config": { |
| "enabled": true, |
| "rot_repr": "rot6d" |
| } |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.images.top": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.side": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 10 |
| ] |
| }, |
| "observation.images.top_padding_mask": { |
| "type": "STATE", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "observation.images.wrist_padding_mask": { |
| "type": "STATE", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "observation.images.side_padding_mask": { |
| "type": "STATE", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 10 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors" |
| }, |
| { |
| "registry_name": "pi05_prepare_state_tokenizer_processor_step", |
| "config": { |
| "max_state_dim": 32, |
| "task_key": "task", |
| "include_state_in_prompt": true |
| } |
| }, |
| { |
| "registry_name": "tokenizer_processor", |
| "config": { |
| "max_length": 200, |
| "task_key": "task", |
| "padding_side": "right", |
| "padding": "max_length", |
| "truncation": true, |
| "tokenizer_name": "tokenizer" |
| }, |
| "artifacts": { |
| "tokenizer_name": "tokenizer" |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
