| { |
| "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 |
| } |
| } |
| ] |
| } |
