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pi05_base_fp32

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pi05_base_fp32
File size: 1,766 Bytes
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{
    "name": "policy_preprocessor",
    "steps": [
      {
        "registry_name": "rename_observations_processor",
        "config": {
          "rename_map": {}
        }
      },
      {
        "registry_name": "to_batch_processor",
        "config": {}
      },
      {
        "registry_name": "pi0_new_line_processor",
        "config": {}
      },
      {
        "registry_name": "tokenizer_processor",
        "config": {
          "max_length": 48,
          "task_key": "task",
          "padding_side": "right",
          "padding": "max_length",
          "truncation": true,
          "tokenizer_name": "google/paligemma-3b-pt-224"
        }
      },
      {
        "registry_name": "device_processor",
        "config": {
          "device": "cpu",
          "float_dtype": null
        }
      },
      {
        "registry_name": "normalizer_processor",
        "config": {
          "eps": 1e-08,
          "features": {
            "observation.state": {
              "type": "STATE",
              "shape": [
                8
              ]
            },
            "observation.images.front": {
              "type": "VISUAL",
              "shape": [
                3,
                480,
                640
              ]
            },
            "observation.images.side": {
              "type": "VISUAL",
              "shape": [
                3,
                480,
                640
              ]
            },
            "action": {
              "type": "ACTION",
              "shape": [
                8
              ]
            }
          },
          "norm_map": {
            "VISUAL": "IDENTITY",
            "STATE": "MEAN_STD",
            "ACTION": "MEAN_STD"
          }
        }
      }
    ]
  }