policy_postprocessor.json

{
  "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,
              300,
              355
            ],
            "names": [
              "channel",
              "height",
              "width"
            ],
            "dtype": "torch.float32"
          },
          "observation.images.wrist_left": {
            "type": "VISUAL",
            "shape": [
              3,
              360,
              270
            ],
            "names": [
              "channel",
              "height",
              "width"
            ],
            "dtype": "torch.float32"
          },
          "observation.images.wrist_right": {
            "type": "VISUAL",
            "shape": [
              3,
              360,
              270
            ],
            "names": [
              "channel",
              "height",
              "width"
            ],
            "dtype": "torch.float32"
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              7
            ],
            "names": [
              "x",
              "y",
              "z",
              "roll",
              "pitch",
              "yaw",
              "tool"
            ],
            "dtype": "torch.float32"
          }
        },
        "output_features": {
          "action": {
            "type": "ACTION",
            "shape": [
              7
            ],
            "names": [
              "x",
              "y",
              "z",
              "roll",
              "pitch",
              "yaw",
              "tool"
            ],
            "dtype": "torch.float32"
          }
        },
        "chunk_size": 50,
        "data_transforms": [
          "state_euler_to_next_state_delta_action"
        ],
        "inverse": true
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cpu",
        "float_dtype": null
      }
    }
  ]
}