File size: 1,027 Bytes
9fa28aa | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 | {
"name": "policy_postprocessor",
"steps": [
{
"registry_name": "molmoact2_clamp_action",
"config": {}
},
{
"registry_name": "molmoact2_masked_unnormalizer",
"config": {
"eps": 1e-08,
"features": {
"action": {
"type": "ACTION",
"shape": [
8
]
},
"action.joint_velocity": {
"type": "ACTION",
"shape": [
7
]
},
"action.cartesian_velocity": {
"type": "ACTION",
"shape": [
6
]
}
},
"norm_map": {
"VISUAL": "IDENTITY",
"STATE": "QUANTILES",
"ACTION": "QUANTILES"
}
},
"state_file": "policy_postprocessor_step_1_molmoact2_masked_unnormalizer.safetensors"
},
{
"registry_name": "device_processor",
"config": {
"device": "cpu",
"float_dtype": null
}
}
]
} |