| { | |
| "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": 16 | |
| }, | |
| "state_file": "policy_postprocessor_step_0_g05_stepwise_unnormalizer.safetensors" | |
| }, | |
| { | |
| "registry_name": "g05_inverse_action_projection", | |
| "config": { | |
| "embodiment": "so100", | |
| "policy_action_dim": 20 | |
| } | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cpu", | |
| "float_dtype": null | |
| } | |
| }, | |
| { | |
| "registry_name": "absolute_actions_processor", | |
| "config": { | |
| "enabled": true | |
| } | |
| }, | |
| { | |
| "registry_name": "g05_action_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 | |
| ], | |
| "inverse": true | |
| } | |
| }, | |
| { | |
| "registry_name": "g05_action_history_crop", | |
| "config": { | |
| "num_obs_steps": 1 | |
| } | |
| } | |
| ] | |
| } |