| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "relative_actions_processor", |
| "config": { |
| "enabled": false, |
| "exclude_joints": [ |
| "gripper" |
| ], |
| "action_names": null |
| } |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.images.robot0_eye_in_hand": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.robot0_agentview_left": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.robot0_agentview_right": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 16 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 12 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MIN_MAX", |
| "ACTION": "MIN_MAX" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_3_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": "pi052_text_tokenizer", |
| "config": { |
| "tokenizer_name": "google/paligemma-3b-pt-224", |
| "max_length": 128, |
| "padding": "max_length", |
| "padding_side": "right", |
| "plan_dropout_prob": 0.0, |
| "memory_dropout_prob": 0.0, |
| "subtask_dropout_prob": 0.0, |
| "interjection_dropout_prob": 0.0, |
| "dropout_seed": null |
| } |
| }, |
| { |
| "registry_name": "action_tokenizer_processor", |
| "config": { |
| "trust_remote_code": true, |
| "max_action_tokens": 384, |
| "fast_skip_tokens": 1152, |
| "paligemma_tokenizer_name": "google/paligemma-3b-pt-224", |
| "allow_truncation": false, |
| "action_tokenizer_name": "action_tokenizer" |
| }, |
| "artifacts": { |
| "action_tokenizer_name": "action_tokenizer" |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
