| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "render_messages_processor", |
| "config": { |
| "recipe": { |
| "messages": null, |
| "bindings": null, |
| "blend": { |
| "high_level_subtask": { |
| "messages": [ |
| { |
| "role": "user", |
| "content": "${task}", |
| "stream": "high_level", |
| "target": false, |
| "if_present": null, |
| "tool_calls_from": null |
| }, |
| { |
| "role": "assistant", |
| "content": "${subtask}", |
| "stream": "high_level", |
| "target": true, |
| "if_present": "subtask", |
| "tool_calls_from": null |
| } |
| ], |
| "bindings": null, |
| "blend": null, |
| "weight": 0.3 |
| }, |
| "low_level_execution": { |
| "messages": [ |
| { |
| "role": "user", |
| "content": "${subtask}", |
| "stream": "low_level", |
| "target": false, |
| "if_present": "subtask", |
| "tool_calls_from": null |
| } |
| ], |
| "bindings": null, |
| "blend": null, |
| "weight": 0.7 |
| } |
| }, |
| "weight": null |
| }, |
| "render_training": true |
| } |
| }, |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "wall_x_task_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.front": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" |
| }, |
| { |
| "registry_name": "wall_x_tokenizer", |
| "config": { |
| "processor_name": "x-square-robot/wall-oss-flow", |
| "image_keys": [ |
| "observation.images.front", |
| "observation.images.wrist" |
| ], |
| "chunk_size": 32, |
| "max_state_dim": 20, |
| "max_action_dim": 20, |
| "output_action_dim": 6, |
| "tokenizer_max_length": 768, |
| "use_fast_tokenizer": false, |
| "action_tokenizer_name": null, |
| "processor_revision": null |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
|
|
