| { | |
| "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": true, | |
| "exclude_joints": [ | |
| "gripper" | |
| ], | |
| "action_names": [ | |
| "eef_x", | |
| "eef_y", | |
| "eef_z", | |
| "eef_xx", | |
| "eef_xy", | |
| "eef_xz", | |
| "eef_yx", | |
| "eef_yy", | |
| "eef_yz", | |
| "gripper", | |
| "base_x", | |
| "base_y", | |
| "base_yaw" | |
| ] | |
| } | |
| }, | |
| { | |
| "registry_name": "normalizer_processor", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 13 | |
| ] | |
| }, | |
| "observation.images.left": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.right": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.base_pose": { | |
| "type": "STATE", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "observation.eef_state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 13 | |
| ] | |
| }, | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 13 | |
| ] | |
| }, | |
| "action.eef": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 13 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "ACTION": "QUANTILES", | |
| "STATE": "QUANTILES", | |
| "VISUAL": "IDENTITY" | |
| } | |
| }, | |
| "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" | |
| }, | |
| { | |
| "registry_name": "pi05_prepare_state_tokenizer_processor_step", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "tokenizer_processor", | |
| "config": { | |
| "max_length": 200, | |
| "task_key": "task", | |
| "padding_side": "right", | |
| "padding": "max_length", | |
| "truncation": true, | |
| "tokenizer_name": "tokenizer" | |
| }, | |
| "artifacts": { | |
| "tokenizer_name": "tokenizer" | |
| } | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cuda", | |
| "float_dtype": null | |
| } | |
| } | |
| ] | |
| } |