policy_postprocessor.json

{
  "name": "policy_postprocessor",
  "steps": [
    {
      "registry_name": "lingbot_vla_v2_inverse_slot_mapping",
      "config": {
        "action_spans": {
          "arm.position": [
            [
              0,
              14
            ]
          ],
          "end.position": [
            [
              14,
              28
            ]
          ],
          "effector.position": [
            [
              28,
              30
            ]
          ],
          "hand.position": [
            [
              30,
              42
            ]
          ],
          "waist.position": [
            [
              42,
              46
            ]
          ],
          "head.position": [
            [
              46,
              48
            ]
          ],
          "base.velocity": [
            [
              48,
              51
            ]
          ],
          "reserved.slots": [
            [
              51,
              55
            ]
          ]
        },
        "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
      }
    }
  ]
}