| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 12 |
| ] |
| }, |
| "observation.images.left_wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.right_wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.right_front": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 720, |
| 1280 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 12 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "QUANTILES", |
| "ACTION": "IDENTITY" |
| }, |
| "normalize_observation_keys": [ |
| "observation.state" |
| ] |
| }, |
| "state_file": "policy_preprocessor_step_1_normalizer_processor.safetensors" |
| }, |
| { |
| "registry_name": "pistar06_prepare_task_prompt", |
| "config": { |
| "task_key": "task", |
| "include_state_in_prompt": true, |
| "state_feature": "observation.state", |
| "max_state_dim": 32, |
| "state_discretization_bins": 256 |
| } |
| }, |
| { |
| "registry_name": "tokenizer_processor", |
| "config": { |
| "max_length": 200, |
| "task_key": "task", |
| "padding_side": "right", |
| "padding": "max_length", |
| "truncation": true, |
| "tokenizer_name": "google/gemma-3-270m" |
| } |
| }, |
| { |
| "registry_name": "pistar06_prepare_images", |
| "config": { |
| "camera_features": [ |
| "observation.images.left_wrist", |
| "observation.images.right_wrist", |
| "observation.images.right_front" |
| ] |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
