| { | |
| "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.front": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 6 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| } | |
| }, | |
| "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors" | |
| }, | |
| { | |
| "registry_name": "render_messages_processor", | |
| "config": { | |
| "recipe": { | |
| "messages": null, | |
| "bindings": null, | |
| "blend": { | |
| "high_level_subtask": { | |
| "messages": [ | |
| { | |
| "role": "user", | |
| "content": "${task}", | |
| "stream": "high_level", | |
| "target": false, | |
| "if_present": null, | |
| "tool_calls_from": null | |
| }, | |
| { | |
| "role": "assistant", | |
| "content": "${subtask}", | |
| "stream": "high_level", | |
| "target": true, | |
| "if_present": "subtask", | |
| "tool_calls_from": null | |
| } | |
| ], | |
| "bindings": null, | |
| "blend": null, | |
| "weight": 0.3 | |
| }, | |
| "low_level_execution": { | |
| "messages": [ | |
| { | |
| "role": "user", | |
| "content": "${subtask}", | |
| "stream": "low_level", | |
| "target": false, | |
| "if_present": "subtask", | |
| "tool_calls_from": null | |
| } | |
| ], | |
| "bindings": null, | |
| "blend": null, | |
| "weight": 0.7 | |
| } | |
| }, | |
| "weight": null | |
| } | |
| } | |
| }, | |
| { | |
| "registry_name": "eo1_conversation_template_processor", | |
| "config": { | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.images.front": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| } | |
| }, | |
| "chunk_size": 8 | |
| } | |
| }, | |
| { | |
| "registry_name": "eo1_qwen_processor", | |
| "config": { | |
| "processor_name": "Qwen/Qwen2.5-VL-3B-Instruct", | |
| "image_min_pixels": 50176, | |
| "image_max_pixels": 100352, | |
| "use_fast_processor": true, | |
| "tokenizer_max_length": 1000 | |
| } | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cuda", | |
| "float_dtype": null | |
| } | |
| } | |
| ] | |
| } |