| { |
| "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": "cosmos3_idle_frame_processor", |
| "config": { |
| "action_feature_names": null, |
| "fps": null, |
| "use_state": true, |
| "idle_state": true, |
| "translation_threshold": 0.005, |
| "rotation_threshold": 0.026179938779914945, |
| "gripper_threshold": 0.01, |
| "joint_threshold": 0.005, |
| "min_streak": 3 |
| } |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": {}, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "IDENTITY", |
| "ACTION": "IDENTITY" |
| } |
| } |
| }, |
| { |
| "registry_name": "cosmos3_video_canvas_processor", |
| "config": { |
| "camera_keys": [], |
| "view_size": null, |
| "fps": null, |
| "chunk_size": 32, |
| "temporal_compression": 4, |
| "spatial_compression": 16 |
| } |
| }, |
| { |
| "registry_name": "cosmos3_prompt_processor", |
| "config": { |
| "view_description": "The top row is from the wrist-mounted camera. The bottom row contains two horizontally concatenated third-person perspective views of the scene from opposite sides, with the robot visible.", |
| "fps": null, |
| "chunk_size": 32, |
| "use_state": true |
| } |
| }, |
| { |
| "registry_name": "cosmos3_tokenizer_processor", |
| "config": { |
| "tokenizer_name": "tokenizer", |
| "cfg_dropout_rate": 0.1 |
| }, |
| "artifacts": { |
| "tokenizer_name": "tokenizer" |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
|
|
