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test_pi05

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test_pi05
File size: 2,087 Bytes
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{
  "name": "policy_postprocessor",
  "steps": [
    {
      "registry_name": "unnormalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "action.absolute": {
            "type": "ACTION",
            "shape": [
              8
            ]
          },
          "action.arm": {
            "type": "ACTION",
            "shape": [
              5
            ]
          },
          "action.gripper": {
            "type": "ACTION",
            "shape": [
              1
            ]
          },
          "action.head": {
            "type": "ACTION",
            "shape": [
              2
            ]
          },
          "action.base": {
            "type": "ACTION",
            "shape": [
              3
            ]
          },
          "action.absolute.is_fresh": {
            "type": "ACTION",
            "shape": [
              8
            ]
          },
          "action.relative.is_fresh": {
            "type": "ACTION",
            "shape": [
              11
            ]
          },
          "action.arm.is_fresh": {
            "type": "ACTION",
            "shape": [
              5
            ]
          },
          "action.gripper.is_fresh": {
            "type": "ACTION",
            "shape": [
              1
            ]
          },
          "action.head.is_fresh": {
            "type": "ACTION",
            "shape": [
              2
            ]
          },
          "action.base.is_fresh": {
            "type": "ACTION",
            "shape": [
              3
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              11
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "QUANTILES",
          "ACTION": "QUANTILES"
        }
      },
      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cpu",
        "float_dtype": null
      }
    }
  ]
}