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"name": "policy_preprocessor",
"steps": [
{
"registry_name": "data_transforms_processor",
"config": {
"input_features": {
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],
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},
"observation.images.wrist": {
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],
"dtype": "torch.float32"
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},
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},
"chunk_size": 50,
"data_transforms": [
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],
"inverse": false
}
},
{
"registry_name": "validate_observations_processor",
"config": {
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},
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}
},
"chunk_size": 50
}
},
{
"registry_name": "rename_observations_processor",
"config": {
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}
},
{
"registry_name": "pi0_new_line_processor",
"config": {}
},
{
"registry_name": "tokenizer_processor",
"config": {
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"task_key": "task",
"padding_side": "right",
"padding": "max_length",
"truncation": true,
"tokenizer_name": "google/paligemma-3b-pt-224"
}
},
{
"registry_name": "device_processor",
"config": {
"device": "cuda",
"float_dtype": null
}
},
{
"registry_name": "delta_actions_processor",
"config": {
"enabled": false,
"exclude_joints": [
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],
"action_names": [
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"z",
"rx",
"ry",
"rz",
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]
}
},
{
"registry_name": "normalizer_processor",
"config": {
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"features": {
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},
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"action": {
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}
},
"norm_map": {
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"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
}
},
"state_file": "policy_preprocessor_step_7_normalizer_processor.safetensors"
}
]
} |