| { | |
| "name": "policy_postprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "g05_stepwise_unnormalizer", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 27 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "n_action_steps": 16 | |
| }, | |
| "state_file": "policy_postprocessor_step_0_g05_stepwise_unnormalizer.safetensors" | |
| }, | |
| { | |
| "registry_name": "g05_tail_normalization", | |
| "config": { | |
| "inverse": true, | |
| "tail_scale": 0.075 | |
| }, | |
| "state_file": "policy_postprocessor_step_1_g05_tail_normalization.safetensors" | |
| }, | |
| { | |
| "registry_name": "g05_inverse_action_projection", | |
| "config": { | |
| "embodiment": "galaxea_r1lite", | |
| "policy_action_dim": 27 | |
| } | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cpu", | |
| "float_dtype": null | |
| } | |
| }, | |
| { | |
| "registry_name": "absolute_actions_processor", | |
| "config": { | |
| "enabled": true | |
| } | |
| }, | |
| { | |
| "registry_name": "g05_action_history_crop", | |
| "config": { | |
| "num_obs_steps": 6 | |
| } | |
| } | |
| ] | |
| } |