| { | |
| "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 | |
| } | |
| } | |
| ] | |
| } |