policy_preprocessor.json

{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "llarva_conversation_template_processor",
      "config": {
        "input_features": {
          "observation.images.image": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.images.image2": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              8
            ]
          }
        }
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}