| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "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": false |
| } |
| }, |
| { |
| "registry_name": "validate_observations_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 |
| } |
| }, |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "pi0_new_line_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "tokenizer_processor", |
| "config": { |
| "max_length": 48, |
| "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": [ |
| "gripper" |
| ], |
| "action_names": [ |
| "x", |
| "y", |
| "z", |
| "rx", |
| "ry", |
| "rz", |
| "gripper" |
| ] |
| } |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.images.side": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 9 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_7_normalizer_processor.safetensors" |
| } |
| ] |
| } |
