| { | |
| "name": "policy_postprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "unnormalizer_processor", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| } | |
| }, | |
| "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" | |
| }, | |
| { | |
| "registry_name": "absolute_actions_processor", | |
| "config": { | |
| "enabled": false | |
| } | |
| }, | |
| { | |
| "registry_name": "data_transforms_processor", | |
| "config": { | |
| "input_features": { | |
| "observation.images.side": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ], | |
| "names": [ | |
| "channel", | |
| "height", | |
| "width" | |
| ], | |
| "dtype": "torch.float32" | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ], | |
| "names": [ | |
| "channel", | |
| "height", | |
| "width" | |
| ], | |
| "dtype": "torch.float32" | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 9 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "qx", | |
| "qy", | |
| "qz", | |
| "qw", | |
| "gripper_q1", | |
| "gripper_q2" | |
| ], | |
| "dtype": "torch.float32" | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "rx", | |
| "ry", | |
| "rz", | |
| "tool" | |
| ], | |
| "dtype": "torch.float32" | |
| } | |
| }, | |
| "chunk_size": 50, | |
| "data_transforms": [ | |
| "robosuite_manipulator_absolute_to_delta_actions" | |
| ], | |
| "inverse": true | |
| } | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cpu", | |
| "float_dtype": null | |
| } | |
| } | |
| ] | |
| } |