| { | |
| "name": "policy_preprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "rename_observations_processor", | |
| "config": { | |
| "rename_map": {} | |
| } | |
| }, | |
| { | |
| "registry_name": "to_batch_processor", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "dynamicvla_observation_history_processor", | |
| "config": { | |
| "feature_keys": [ | |
| "observation.state", | |
| "observation.images.left_top", | |
| "observation.images.left_left", | |
| "observation.images.left_right" | |
| ], | |
| "delta_indices": [ | |
| -2, | |
| 0 | |
| ] | |
| } | |
| }, | |
| { | |
| "registry_name": "dynamicvla_new_line_processor", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "tokenizer_processor", | |
| "config": { | |
| "max_length": 48, | |
| "task_key": "task", | |
| "padding_side": "right", | |
| "padding": "longest", | |
| "truncation": true, | |
| "tokenizer_name": "HuggingFaceTB/SmolLM2-360M" | |
| } | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cuda", | |
| "float_dtype": null | |
| } | |
| }, | |
| { | |
| "registry_name": "normalizer_processor", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 12 | |
| ] | |
| }, | |
| "observation.images.left_top": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.left_left": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.left_right": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 12 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| } | |
| }, | |
| "state_file": "policy_preprocessor_step_6_normalizer_processor.safetensors" | |
| } | |
| ] | |
| } |