| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": { |
| "observation.images.middle": "observation.images.cam0", |
| "observation.images.wrist": "observation.images.cam1" |
| } |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "molmoact2_state_frame_transform", |
| "config": { |
| "joint_signs": [ |
| 1.0, |
| -1.0, |
| 1.0, |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "joint_offsets": [ |
| 0.0, |
| 90.0, |
| 90.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| { |
| "registry_name": "molmoact2_masked_normalizer", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.images.cam0": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.images.cam1": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_3_molmoact2_masked_normalizer.safetensors" |
| }, |
| { |
| "registry_name": "molmoact2_clamp_normalized", |
| "config": {} |
| }, |
| { |
| "registry_name": "molmoact2_pack_inputs", |
| "config": { |
| "checkpoint_path": "allenai/MolmoAct2-SO100_101", |
| "checkpoint_revision": null, |
| "checkpoint_force_download": false, |
| "action_mode": "continuous", |
| "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer", |
| "image_keys": [ |
| "observation.images.cam0", |
| "observation.images.cam1" |
| ], |
| "allow_image_key_fallback": false, |
| "setup_type": "single SO-101 follower robot arm with two RGB cameras", |
| "control_mode": "absolute joint pose control", |
| "normalize_language": true, |
| "add_setup_tokens": true, |
| "add_control_tokens": true, |
| "num_state_tokens": 256, |
| "max_sequence_length": null, |
| "chunk_size": 30, |
| "max_action_dim": 32, |
| "env_action_dim": 6 |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
