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LeRobot
Safetensors
groot
groot-so101 / policy_preprocessor.json
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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
}
}
]
}