| { | |
| "name": "policy_preprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "rename_observations_processor", | |
| "config": { | |
| "rename_map": {} | |
| } | |
| }, | |
| { | |
| "registry_name": "to_batch_processor", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "cae_fastwam_image_processor", | |
| "config": { | |
| "camera_size": [ | |
| 224, | |
| 224 | |
| ] | |
| } | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cpu", | |
| "float_dtype": null | |
| } | |
| }, | |
| { | |
| "registry_name": "cae_fastwam_suite_normalizer", | |
| "config": { | |
| "keys": [ | |
| "observation.state", | |
| "action" | |
| ], | |
| "task_suites": [ | |
| "libero_spatial", | |
| "libero_object", | |
| "libero_goal", | |
| "libero_10" | |
| ], | |
| "task_suite": null, | |
| "clamp": 5.0, | |
| "range_tol": 0.0001, | |
| "delta_action_dims": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3, | |
| 4, | |
| 5 | |
| ] | |
| }, | |
| "state_file": "policy_preprocessor_step_4_cae_fastwam_suite_normalizer.safetensors" | |
| } | |
| ] | |
| } |