| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": { |
| "observation.images.top": "observation.images.camera_top", |
| "observation.images.wrist": "observation.images.camera_wrist_left" |
| } |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "relative_actions_processor", |
| "config": { |
| "enabled": false, |
| "exclude_joints": [], |
| "action_names": null |
| } |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.camera_top": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.images.camera_wrist_left": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.images.camera_wrist_right": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" |
| }, |
| { |
| "registry_name": "lingbot_vla_v2_slot_mapping", |
| "config": { |
| "state_spans": { |
| "arm.position": [ |
| [ |
| 0, |
| 5 |
| ] |
| ], |
| "effector.position": [ |
| [ |
| 5, |
| 6 |
| ] |
| ] |
| }, |
| "action_spans": { |
| "arm.position": [ |
| [ |
| 0, |
| 5 |
| ] |
| ], |
| "effector.position": [ |
| [ |
| 5, |
| 6 |
| ] |
| ] |
| }, |
| "canonical_joints": { |
| "arm.position": 14, |
| "end.position": 14, |
| "effector.position": 2, |
| "hand.position": 12, |
| "waist.position": 4, |
| "head.position": 2, |
| "base.velocity": 3, |
| "reserved.slots": 4 |
| }, |
| "chunk_size": 50, |
| "max_state_dim": 55, |
| "max_action_dim": 55 |
| } |
| }, |
| { |
| "registry_name": "lingbot_vla_v2_image", |
| "config": { |
| "tokenizer_path": "image_processor", |
| "cameras": [ |
| "camera_top", |
| "camera_wrist_left", |
| "camera_wrist_right" |
| ], |
| "resize_imgs_with_padding": [ |
| 256, |
| 256 |
| ], |
| "image_max_pixels": 65536, |
| "image_min_pixels": 65536 |
| }, |
| "artifacts": { |
| "tokenizer_path": "image_processor" |
| } |
| }, |
| { |
| "registry_name": "lingbot_vla_v2_chat_template", |
| "config": { |
| "task_key": "task", |
| "tokenizer_name": "chat_template_tokenizer" |
| }, |
| "artifacts": { |
| "tokenizer_name": "chat_template_tokenizer" |
| } |
| }, |
| { |
| "registry_name": "tokenizer_processor", |
| "config": { |
| "max_length": 72, |
| "task_key": "task", |
| "padding_side": "right", |
| "padding": "max_length", |
| "truncation": true, |
| "tokenizer_name": "tokenizer" |
| }, |
| "artifacts": { |
| "tokenizer_name": "tokenizer" |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
