| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "dm05_task_processor", |
| "config": { |
| "default_task": "Execute the robot action." |
| } |
| }, |
| { |
| "registry_name": "dm05_action_reference_probe_processor", |
| "config": { |
| "action_dim": 6 |
| } |
| }, |
| { |
| "registry_name": "relative_actions_processor", |
| "config": { |
| "enabled": true, |
| "exclude_joints": [ |
| "gripper" |
| ], |
| "action_names": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ] |
| } |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-06, |
| "features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.top": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
| }, |
| "normalize_observation_keys": [ |
| "observation.state" |
| ] |
| }, |
| "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors" |
| }, |
| { |
| "registry_name": "dm05_action_reference_extract_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "dm05_state_bins_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| }, |
| { |
| "registry_name": "dm05_processor_artifacts", |
| "config": { |
| "processor_name_or_path": "dm05_processor" |
| }, |
| "artifacts": { |
| "processor_name_or_path": "dm05_processor" |
| } |
| } |
| ] |
| } |
