| { | |
| "name": "policy_preprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "rename_observations_processor", | |
| "config": { | |
| "rename_map": { | |
| "observation.images.front": "observation.images.image" | |
| } | |
| } | |
| }, | |
| { | |
| "registry_name": "to_batch_processor", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "tokenizer_processor", | |
| "config": { | |
| "max_length": 77, | |
| "task_key": "task", | |
| "padding_side": "right", | |
| "padding": "max_length", | |
| "truncation": true, | |
| "tokenizer_name": "openai/clip-vit-large-patch14" | |
| } | |
| }, | |
| { | |
| "registry_name": "dita_language_encoder_processor_step", | |
| "config": { | |
| "clip_model_name": "openai/clip-vit-large-patch14", | |
| "traj_length": 11, | |
| "chunk_size": 10, | |
| "device": "cuda" | |
| } | |
| }, | |
| { | |
| "registry_name": "dita_masked_normalizer_processor", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "observation.images.image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "VISUAL": "IDENTITY", | |
| "ACTION": "QUANTILES", | |
| "LANGUAGE": "IDENTITY" | |
| }, | |
| "gripper_mode": "continuous" | |
| }, | |
| "state_file": "policy_preprocessor_step_4_dita_masked_normalizer_processor.safetensors" | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cuda", | |
| "float_dtype": null | |
| } | |
| } | |
| ] | |
| } |