| { |
| "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": "cosmos3_idle_frame_processor", |
| "config": { |
| "action_feature_names": [ |
| "pos_0", |
| "pos_1", |
| "pos_2", |
| "rot6d_0", |
| "rot6d_1", |
| "rot6d_2", |
| "rot6d_3", |
| "rot6d_4", |
| "rot6d_5", |
| "gripper_0" |
| ], |
| "fps": 20.0, |
| "use_state": false, |
| "idle_state": false, |
| "translation_threshold": 0.005, |
| "rotation_threshold": 0.026179938779914945, |
| "gripper_threshold": 0.01, |
| "joint_threshold": 0.005, |
| "min_streak": 3 |
| } |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.images.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.image2": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 8 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 10 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "IDENTITY", |
| "ACTION": "QUANTILES" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors" |
| }, |
| { |
| "registry_name": "cosmos3_video_canvas_processor", |
| "config": { |
| "camera_keys": [ |
| "observation.images.image", |
| "observation.images.image2" |
| ], |
| "view_size": [ |
| 256, |
| 256 |
| ], |
| "fps": 20.0, |
| "chunk_size": 16, |
| "temporal_compression": 4, |
| "spatial_compression": 16 |
| } |
| }, |
| { |
| "registry_name": "cosmos3_prompt_processor", |
| "config": { |
| "view_description": "The left half shows the third-person view; the right half shows the wrist-mounted camera.", |
| "fps": 20.0, |
| "chunk_size": 16, |
| "use_state": false |
| } |
| }, |
| { |
| "registry_name": "cosmos3_tokenizer_processor", |
| "config": { |
| "tokenizer_name": "tokenizer", |
| "cfg_dropout_rate": 0.1 |
| }, |
| "artifacts": { |
| "tokenizer_name": "tokenizer" |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
