| { |
| "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.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" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors" |
| }, |
| { |
| "registry_name": "jepa_wam_clamp_normalized", |
| "config": { |
| "observation_keys": [ |
| "observation.state" |
| ], |
| "clamp_action": true |
| } |
| }, |
| { |
| "registry_name": "jepa_wam_prompt", |
| "config": { |
| "system_prompt": "You are Qwen, created by Alibaba Cloud. You are a helpful assistant.", |
| "prompt_template": "What action should the robot take to {task}?", |
| "task_key": "task" |
| } |
| }, |
| { |
| "registry_name": "tokenizer_processor", |
| "config": { |
| "max_length": 256, |
| "task_key": "task", |
| "padding_side": "left", |
| "padding": "longest", |
| "truncation": true, |
| "tokenizer_name": "tokenizer" |
| }, |
| "artifacts": { |
| "tokenizer_name": "tokenizer" |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
