g05_base / policy_preprocessor.json
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Drop the bbox image size step: bbox targets are [0, 1] image fractions
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{
"name": "policy_preprocessor",
"steps": [
{
"registry_name": "render_runtime_messages_processor",
"config": {
"recipe": {
"messages": [
{
"role": "user",
"content": "${task}",
"stream": "low_level",
"target": false,
"if_present": null,
"tool_calls_from": null
},
{
"role": "assistant",
"content": "BBoxJSON: ${bbox}",
"stream": "low_level",
"target": true,
"if_present": "bbox",
"tool_calls_from": null
},
{
"role": "assistant",
"content": "Subtask: ${subtask}",
"stream": "low_level",
"target": true,
"if_present": "subtask",
"tool_calls_from": null
}
],
"bindings": {
"bbox": "emitted_at(t, style=vqa, role=assistant, camera=observation.images.exterior)"
},
"blend": null,
"weight": null,
"route": null
}
}
},
{
"registry_name": "render_training_messages_processor",
"config": {
"recipe": null
}
},
{
"registry_name": "rename_observations_processor",
"config": {
"rename_map": {}
}
},
{
"registry_name": "to_batch_processor",
"config": {}
},
{
"registry_name": "g05_image_transform",
"config": {
"camera_order": [
"observation.images.head_rgb",
"observation.images.left_wrist_rgb",
"observation.images.right_wrist_rgb"
],
"camera_sizes": {
"observation.images.head_rgb": [
256,
256
],
"observation.images.left_wrist_rgb": [
256,
256
],
"observation.images.right_wrist_rgb": [
256,
256
]
},
"mean": [
0.5,
0.5,
0.5
],
"std": [
0.5,
0.5,
0.5
],
"optional_camera_keys": []
}
},
{
"registry_name": "g05_action_operation_mask",
"config": {
"action_parts": [
[
"left_arm",
6
],
[
"left_gripper",
1
],
[
"right_arm",
6
],
[
"right_gripper",
1
]
],
"joint_threshold": null,
"gripper_threshold": null,
"velocity_threshold": 0.1,
"eef_threshold": 0.001,
"dim_thresholds": {
"left_arm": [
0.00756,
0.00662,
0.0432,
0.00732,
0.00493,
0.00612
],
"right_arm": [
0.0115,
0.00717,
0.0619,
0.012,
0.00737,
0.00918
]
}
}
},
{
"registry_name": "g05_relative_joint_actions",
"config": {
"enabled": true,
"exclude_joints": [
"gripper"
],
"action_names": [
"left_arm.0",
"left_arm.1",
"left_arm.2",
"left_arm.3",
"left_arm.4",
"left_arm.5",
"left_gripper.0",
"right_arm.0",
"right_arm.1",
"right_arm.2",
"right_arm.3",
"right_arm.4",
"right_arm.5",
"right_gripper.0"
],
"num_obs_steps": 6
}
},
{
"registry_name": "g05_embodiment_projection",
"config": {
"embodiment": "galaxea_r1lite",
"policy_state_dim": 27,
"policy_action_dim": 27,
"camera_order": [
"observation.images.head_rgb",
"observation.images.left_wrist_rgb",
"observation.images.right_wrist_rgb"
]
}
},
{
"registry_name": "normalizer_processor",
"config": {
"eps": 1e-08,
"features": {
"observation.state": {
"type": "STATE",
"shape": [
27
]
},
"observation.images.head_rgb": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.left_wrist_rgb": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.right_wrist_rgb": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"action": {
"type": "ACTION",
"shape": [
27
]
}
},
"norm_map": {
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD",
"VISUAL": "IDENTITY"
}
},
"state_file": "policy_preprocessor_step_7_normalizer_processor.safetensors"
},
{
"registry_name": "g05_normalization_clamp",
"config": {
"minimum": -5.0,
"maximum": 5.0
}
},
{
"registry_name": "device_processor",
"config": {
"device": "cuda",
"float_dtype": null
}
},
{
"registry_name": "g05_tokenizer",
"config": {
"processor_dir": "hf_processor",
"action_tokenizer_path": "action_tokenizer.safetensors"
},
"artifacts": {
"processor_dir": "hf_processor",
"action_tokenizer_path": "action_tokenizer.safetensors"
}
}
]
}