policy_preprocessor.json

{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "relative_actions_processor",
      "config": {
        "enabled": false,
        "exclude_joints": [],
        "action_names": null
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.state": {
            "type": "STATE",
            "shape": [
              55
            ]
          },
          "observation.images.camera_top": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.images.camera_wrist_left": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.images.camera_wrist_right": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              55
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "MEAN_STD",
          "ACTION": "MEAN_STD"
        }
      }
    },
    {
      "registry_name": "lingbot_vla_v2_slot_mapping",
      "config": {
        "state_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
            ]
          ]
        },
        "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
        },
        "chunk_size": 50,
        "max_state_dim": 55,
        "max_action_dim": 55
      }
    },
    {
      "registry_name": "lingbot_vla_v2_image",
      "config": {
        "tokenizer_path": "image_processor",
        "cameras": [
          "camera_top",
          "camera_wrist_left",
          "camera_wrist_right"
        ],
        "resize_imgs_with_padding": [
          224,
          224
        ],
        "image_max_pixels": 262144,
        "image_min_pixels": 131072
      },
      "artifacts": {
        "tokenizer_path": "image_processor"
      }
    },
    {
      "registry_name": "lingbot_vla_v2_chat_template",
      "config": {
        "task_key": "task",
        "tokenizer_name": "chat_template_tokenizer"
      },
      "artifacts": {
        "tokenizer_name": "chat_template_tokenizer"
      }
    },
    {
      "registry_name": "tokenizer_processor",
      "config": {
        "max_length": 72,
        "task_key": "task",
        "padding_side": "right",
        "padding": "max_length",
        "truncation": true,
        "tokenizer_name": "tokenizer"
      },
      "artifacts": {
        "tokenizer_name": "tokenizer"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cpu",
        "float_dtype": null
      }
    }
  ]
}