| { | |
| "name": "policy_postprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "g05_stepwise_unnormalizer", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 20 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "ACTION": "QUANTILES" | |
| }, | |
| "n_action_steps": 8 | |
| }, | |
| "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" | |
| }, | |
| { | |
| "registry_name": "g05_inverse_action_projection", | |
| "config": { | |
| "embodiment": "robotwin", | |
| "policy_action_dim": 20 | |
| } | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cpu", | |
| "float_dtype": null | |
| } | |
| }, | |
| { | |
| "registry_name": "absolute_actions_processor", | |
| "config": { | |
| "enabled": false | |
| } | |
| }, | |
| { | |
| "registry_name": "g05_action_history_crop", | |
| "config": { | |
| "num_obs_steps": 1 | |
| } | |
| } | |
| ] | |
| } | |