| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "lingbot_vla_v2_feature_transform", |
| "config": { |
| "robot_config_path": "/fsx/maxime_ellerbach/robots/runs/lingbot_vla_v2/omx_multicubes_robot_config.yaml", |
| "norm_stats_path": "/fsx/maxime_ellerbach/robots/runs/lingbot_vla_v2/omx_multicubes_norm_stats.json", |
| "processor_path": "Qwen/Qwen3-VL-4B-Instruct", |
| "chunk_size": 50, |
| "max_state_dim": 55, |
| "max_action_dim": 55, |
| "tokenizer_max_length": 72, |
| "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 |
| }, |
| "canonical_norm_type": { |
| "arm.position": "meanstd", |
| "end.position": "meanstd", |
| "effector.position": "meanstd", |
| "hand.position": "meanstd", |
| "waist.position": "meanstd", |
| "head.position": "meanstd", |
| "base.velocity": "meanstd", |
| "reserved.slots": "meanstd" |
| }, |
| "cameras": [ |
| "camera_top", |
| "camera_wrist_left", |
| "camera_wrist_right" |
| ], |
| "resize_imgs_with_padding": [ |
| 224, |
| 224 |
| ], |
| "image_max_pixels": 262144, |
| "image_min_pixels": 131072 |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
