| { | |
| "name": "policy_preprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "rename_observations_processor", | |
| "config": { | |
| "rename_map": {} | |
| } | |
| }, | |
| { | |
| "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.images.right_cam0": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 360, | |
| 480 | |
| ] | |
| }, | |
| "observation.tactile.right_sensor_1": { | |
| "type": "TACTILE", | |
| "shape": [ | |
| 6, | |
| 6 | |
| ] | |
| }, | |
| "observation.tactile.right_sensor_2": { | |
| "type": "TACTILE", | |
| "shape": [ | |
| 4, | |
| 8 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 2 | |
| ] | |
| }, | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 11 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD", | |
| "TACTILE": "MEAN_STD" | |
| } | |
| }, | |
| "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" | |
| } | |
| ] | |
| } |