| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": { |
| "observation.images.opst_cam": "observation.images.image", |
| "observation.images.side_cam": "observation.images.image2", |
| "observation.images.wrist_cam": "observation.images.image3" |
| } |
| } |
| }, |
| { |
| "registry_name": "beast_refiner_add_batch_dimension", |
| "config": {} |
| }, |
| { |
| "registry_name": "tokenizer_processor", |
| "config": { |
| "max_length": 50, |
| "task_key": "task", |
| "padding_side": "right", |
| "padding": "max_length", |
| "truncation": true, |
| "tokenizer_name": "facebook/bart-large" |
| } |
| }, |
| { |
| "registry_name": "beast_xvla_refiner_v2_image_to_float", |
| "config": {} |
| }, |
| { |
| "registry_name": "beast_xvla_refiner_v2_imagenet_normalize", |
| "config": {} |
| }, |
| { |
| "registry_name": "beast_xvla_refiner_v2_add_domain_id", |
| "config": {} |
| }, |
| { |
| "registry_name": "beast_xvla_refiner_v2_velocity_fallback", |
| "config": { |
| "velocity_key": "observation.action_velocity", |
| "action_dim": 7 |
| } |
| }, |
| { |
| "registry_name": "beast_xvla_refiner_v2_normalize_velocity", |
| "config": { |
| "velocity_key": "observation.action_velocity", |
| "action_scale": [ |
| 0.1521461308002472, |
| 0.2062179297208786, |
| 0.12297115474939346, |
| 0.1427786946296692, |
| 0.2901972532272339, |
| 0.47654685378074646, |
| 0.9008533954620361 |
| ] |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.environment_state": { |
| "type": "ENV", |
| "shape": [ |
| 9 |
| ] |
| }, |
| "observation.images.image3": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.images.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.images.image2": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.action_velocity": { |
| "type": "STATE", |
| "shape": [ |
| 7 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "IDENTITY", |
| "ACTION": "MEAN_STD" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_9_normalizer_processor.safetensors" |
| } |
| ] |
| } |
