| { | |
| "name": "policy_preprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "rename_observations_processor", | |
| "config": { | |
| "rename_map": {} | |
| } | |
| }, | |
| { | |
| "registry_name": "act_romoya_preprocess_v1", | |
| "config": { | |
| "action_mode": "delta_joint_gripper_do1", | |
| "state_feature_names": [ | |
| "joint1.pos", | |
| "joint2.pos", | |
| "joint3.pos", | |
| "joint4.pos", | |
| "joint5.pos", | |
| "joint6.pos", | |
| "gripper.pos", | |
| "DO_1" | |
| ], | |
| "action_feature_names": [ | |
| "joint1.pos", | |
| "joint2.pos", | |
| "joint3.pos", | |
| "joint4.pos", | |
| "joint5.pos", | |
| "joint6.pos", | |
| "gripper.pos", | |
| "DO_1" | |
| ], | |
| "binary_state": [ | |
| null, | |
| null, | |
| null, | |
| null, | |
| null, | |
| null, | |
| null, | |
| 0.5 | |
| ], | |
| "binary_action": [ | |
| null, | |
| null, | |
| null, | |
| null, | |
| null, | |
| null, | |
| null, | |
| [ | |
| 0.5, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "delta_action": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "state_feature_names_to_keep": [ | |
| "joint1.pos", | |
| "joint2.pos", | |
| "joint3.pos", | |
| "joint4.pos", | |
| "joint5.pos", | |
| "joint6.pos", | |
| "gripper.pos", | |
| "DO_1" | |
| ], | |
| "raw_observation_state_feature_names": [ | |
| "joint1.pos", | |
| "joint2.pos", | |
| "joint3.pos", | |
| "joint4.pos", | |
| "joint5.pos", | |
| "joint6.pos", | |
| "gripper.pos", | |
| "gripper.force", | |
| "DO_0", | |
| "DO_1", | |
| "joint1.effort", | |
| "joint2.effort", | |
| "joint3.effort", | |
| "joint4.effort", | |
| "joint5.effort", | |
| "joint6.effort", | |
| "joint1.vel", | |
| "joint2.vel", | |
| "joint3.vel", | |
| "joint4.vel", | |
| "joint5.vel", | |
| "joint6.vel", | |
| "joint1.acc", | |
| "joint2.acc", | |
| "joint3.acc", | |
| "joint4.acc", | |
| "joint5.acc", | |
| "joint6.acc", | |
| "tcp.x", | |
| "tcp.y", | |
| "tcp.z", | |
| "tcp.rx", | |
| "tcp.ry", | |
| "tcp.rz" | |
| ], | |
| "raw_action_feature_names": [ | |
| "joint1.pos", | |
| "joint2.pos", | |
| "joint3.pos", | |
| "joint4.pos", | |
| "joint5.pos", | |
| "joint6.pos", | |
| "gripper.pos", | |
| "gripper.force", | |
| "DO_0", | |
| "DO_1" | |
| ], | |
| "joint_action_names": [ | |
| "joint1.pos", | |
| "joint2.pos", | |
| "joint3.pos", | |
| "joint4.pos", | |
| "joint5.pos", | |
| "joint6.pos" | |
| ], | |
| "gripper_action_name": "gripper.pos", | |
| "do_action_names": [ | |
| "DO_1" | |
| ], | |
| "context_id": "act_romoya" | |
| } | |
| }, | |
| { | |
| "registry_name": "to_batch_processor", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cuda", | |
| "float_dtype": null | |
| } | |
| }, | |
| { | |
| "registry_name": "normalizer_processor", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 8 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 360, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.top": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 360, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.side": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 360, | |
| 640 | |
| ] | |
| }, | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 8 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| } | |
| }, | |
| "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors" | |
| } | |
| ] | |
| } |