| { | |
| "name": "policy_postprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "vla_jepa_clip_actions", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "vla_jepa_pre_snap_gripper", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "unnormalizer_processor", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 16 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| } | |
| }, | |
| "state_file": "policy_postprocessor_step_2_unnormalizer_processor.safetensors" | |
| }, | |
| { | |
| "registry_name": "absolute_actions_processor", | |
| "config": { | |
| "enabled": true | |
| } | |
| }, | |
| { | |
| "registry_name": "vla_jepa_binarize_gripper", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cpu", | |
| "float_dtype": null | |
| } | |
| } | |
| ] | |
| } |