| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "relative_actions_processor", |
| "config": { |
| "enabled": false, |
| "exclude_joints": [ |
| "gripper" |
| ], |
| "action_names": null |
| } |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.images.robot0_agentview_left": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.robot0_agentview_right": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.robot0_eye_in_hand": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 16 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 12 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" |
| }, |
| { |
| "registry_name": "render_messages_processor", |
| "config": { |
| "recipe": { |
| "blend": { |
| "high_level_subtask": { |
| "weight": 0.25, |
| "messages": [ |
| { |
| "role": "user", |
| "content": "${task}", |
| "stream": "high_level" |
| }, |
| { |
| "role": "assistant", |
| "content": "${subtask}", |
| "stream": "high_level", |
| "target": true, |
| "if_present": "subtask" |
| } |
| ] |
| }, |
| "low_level_execution": { |
| "weight": 0.6, |
| "messages": [ |
| { |
| "role": "user", |
| "content": "${subtask}", |
| "stream": "low_level", |
| "if_present": "subtask" |
| } |
| ] |
| }, |
| "memory_update": { |
| "weight": 0.15, |
| "bindings": { |
| "prior_memory": "nth_prev(style=memory, offset=1)", |
| "current_memory": "active_at(t, style=memory)", |
| "completed_subtask": "nth_prev(style=subtask, offset=1)" |
| }, |
| "messages": [ |
| { |
| "role": "user", |
| "content": "${task}", |
| "stream": "high_level" |
| }, |
| { |
| "role": "assistant", |
| "content": "Previous memory: ${prior_memory}", |
| "stream": "high_level", |
| "if_present": "prior_memory" |
| }, |
| { |
| "role": "user", |
| "content": "Completed subtask: ${completed_subtask}", |
| "stream": "high_level", |
| "if_present": "completed_subtask" |
| }, |
| { |
| "role": "assistant", |
| "content": "${current_memory}", |
| "stream": "high_level", |
| "target": true, |
| "if_present": "current_memory" |
| } |
| ] |
| } |
| } |
| } |
| } |
| }, |
| { |
| "registry_name": "pi052_text_tokenizer", |
| "config": { |
| "tokenizer_name": "google/paligemma-3b-pt-224", |
| "max_length": 128, |
| "padding": "max_length", |
| "padding_side": "right", |
| "plan_dropout_prob": 0.0, |
| "memory_dropout_prob": 0.0, |
| "subtask_dropout_prob": 0.0, |
| "interjection_dropout_prob": 0.0, |
| "dropout_seed": null |
| } |
| }, |
| { |
| "registry_name": "action_tokenizer_processor", |
| "config": { |
| "trust_remote_code": true, |
| "max_action_tokens": 384, |
| "fast_skip_tokens": 128, |
| "paligemma_tokenizer_name": "google/paligemma-3b-pt-224", |
| "action_tokenizer_name": "lerobot/fast-action-tokenizer" |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
|
|
