| { |
| "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": "relative_ee_actions_processor", |
| "config": { |
| "enabled": true, |
| "pos_index": 0, |
| "rot6d_index": 3, |
| "anchor_obs_index": -1 |
| } |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.top": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 10 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 10 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors" |
| } |
| ] |
| } |
