| { | |
| "name": "policy_postprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "molmoact2_clamp_action", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "molmoact2_masked_unnormalizer", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "ACTION": "MEAN_STD", | |
| "STATE": "MEAN_STD", | |
| "VISUAL": "IDENTITY" | |
| } | |
| }, | |
| "state_file": "policy_postprocessor_step_1_molmoact2_masked_unnormalizer.safetensors" | |
| }, | |
| { | |
| "registry_name": "molmoact2_action_frame_transform", | |
| "config": { | |
| "joint_signs": null, | |
| "joint_offsets": null | |
| } | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cpu", | |
| "float_dtype": null | |
| } | |
| } | |
| ] | |
| } |