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groot-so101

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groot-so101
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{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "groot_n1_7_pack_inputs_v1",
      "config": {
        "state_horizon": 1,
        "action_horizon": 40,
        "valid_action_horizon": 40,
        "video_horizon": null,
        "max_state_dim": 132,
        "max_action_dim": 132,
        "language_key": "task",
        "formalize_language": true,
        "embodiment_tag": "new_embodiment",
        "embodiment_mapping": {
          "oxe_droid_relative_eef_relative_joint": 24,
          "xdof_relative_eef_relative_joint": 27,
          "xdof_relative_eef_relative_joint_subtask": 27,
          "real_g1_relative_eef_relative_joints": 25,
          "real_r1_pro_sharpa_relative_eef": 26,
          "real_r1_pro_sharpa_relative_eef_human": 26,
          "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
          "real_r1_pro_sharpa_relative_eef_mecka": 26,
          "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
          "simpler_env_google": 0,
          "simpler_env_widowx": 1,
          "libero_sim": 2,
          "new_embodiment": 10
        },
        "normalize_min_max": true,
        "clip_outliers": true,
        "video_modality_keys": null,
        "raw_stats": null,
        "modality_config": null,
        "state_cache_key": "groot_n1_7:new_embodiment"
      },
      "state_file": "policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors"
    },
    {
      "registry_name": "groot_n1_7_vlm_encode_v1",
      "config": {
        "model_name": "nvidia/Cosmos-Reason2-2B",
        "image_crop_size": null,
        "image_target_size": null,
        "shortest_image_edge": null,
        "crop_fraction": null,
        "use_albumentations": false
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}