File size: 1,958 Bytes
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"name": "policy_postprocessor",
"steps": [
{
"registry_name": "lingbot_vla_v2_inverse_slot_mapping",
"config": {
"action_spans": {
"arm.position": [
[
0,
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]
],
"end.position": [
[
14,
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]
],
"effector.position": [
[
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]
],
"hand.position": [
[
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]
],
"waist.position": [
[
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]
],
"head.position": [
[
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]
],
"base.velocity": [
[
48,
51
]
],
"reserved.slots": [
[
51,
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]
]
},
"canonical_joints": {
"arm.position": 14,
"end.position": 14,
"effector.position": 2,
"hand.position": 12,
"waist.position": 4,
"head.position": 2,
"base.velocity": 3,
"reserved.slots": 4
}
}
},
{
"registry_name": "unnormalizer_processor",
"config": {
"eps": 1e-08,
"features": {
"action": {
"type": "ACTION",
"shape": [
55
]
}
},
"norm_map": {
"VISUAL": "IDENTITY",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
}
}
},
{
"registry_name": "absolute_actions_processor",
"config": {
"enabled": false
}
},
{
"registry_name": "device_processor",
"config": {
"device": "cpu",
"float_dtype": null
}
}
]
} |