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hy_vla_umi

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hy_vla_umi
File size: 835 Bytes
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{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "hy_vla_encode_v1",
      "config": {
        "action_representation": "relative",
        "relative_convention": "first_frame",
        "quaternion_order": "xyzw",
        "coordinate_transform": "identity",
        "convert_gripper": false,
        "max_state_dim": 32,
        "max_action_dim": 32,
        "epsilon": 1e-08
      },
      "state_file": "policy_preprocessor_step_2_hy_vla_encode_v1.safetensors"
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}