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"name": "policy_preprocessor",
"steps": [
{
"registry_name": "rename_observations_processor",
"config": {
"rename_map": {
"observation.images.top": "observation.images.image",
"observation.images.wrist": "observation.images.image2"
}
}
},
{
"registry_name": "to_batch_processor",
"config": {}
},
{
"registry_name": "device_processor",
"config": {
"device": "cuda",
"float_dtype": null
}
},
{
"registry_name": "normalizer_processor",
"config": {
"eps": 1e-08,
"features": {
"observation.images.image": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.image2": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"norm_map": {
"ACTION": "MIN_MAX",
"STATE": "MIN_MAX",
"VISUAL": "IDENTITY"
}
},
"state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
},
{
"registry_name": "lawam_resize_images",
"config": {
"image_features": [
"observation.images.image",
"observation.images.image2"
],
"image_hw": [
256,
256
]
}
},
{
"registry_name": "lawam_qwen_inputs",
"config": {
"model_id": "Qwen/Qwen3-VL-2B-Instruct",
"placeholder_token": "<ACT_PH>",
"act_queries": 8,
"flow_queries": 8,
"primary_image_features": [
"observation.images.image"
],
"wrist_image_features": [
"observation.images.image2"
],
"image_hw": [
256,
256
],
"default_task": "Execute the robot action.",
"cot_prompt_before_wrist": "Your task is {instruction}.\n\nFrom main-view observations, infer the robot arm's motion.",
"cot_prompt_after_wrist": "Then use observations and the inferred motion to produce the robot policy actions."
}
},
{
"registry_name": "lawam_prepare_batch",
"config": {
"lam_image_feature": "observation.images.image",
"image_hw": [
256,
256
],
"action_horizon": 24,
"chunk_size": 50,
"action_dim": 32,
"state_dim": 32,
"use_state": false,
"action_hz": 30.0,
"embodiment_id": 25
}
}
]
} |