| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
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| } |
| }, |
| { |
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| }, |
| { |
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| { |
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| "observation.images.wrist_image": { |
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| "ACTION": "QUANTILES" |
| } |
| }, |
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| }, |
| { |
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| }, |
| { |
| "registry_name": "molmoact2_pack_inputs", |
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| "checkpoint_path": "/root/a7_merged_base", |
| "checkpoint_revision": null, |
| "checkpoint_force_download": false, |
| "action_mode": "continuous", |
| "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer", |
| "image_keys": [ |
| "observation.images.image", |
| "observation.images.wrist_image" |
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| "allow_image_key_fallback": true, |
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| "control_mode": "", |
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| "chunk_size": 10, |
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| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
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| } |
| } |
| ] |
| } |
