policy_preprocessor.json

{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.image.head": {
            "type": "VISUAL",
            "shape": [
              480,
              640,
              3
            ]
          },
          "observation.image.hand": {
            "type": "VISUAL",
            "shape": [
              480,
              640,
              3
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "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_preprocessor_step_2_normalizer_processor.safetensors"
    },
    {
      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
      "config": {}
    },
    {
      "registry_name": "tokenizer_processor",
      "config": {
        "max_length": 200,
        "task_key": "task",
        "padding_side": "right",
        "padding": "max_length",
        "truncation": true,
        "tokenizer_name": "google/paligemma-3b-pt-224"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}