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framepick_pi05_subtask_base

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framepick_pi05_subtask_base
File size: 1,333 Bytes
fcdab90
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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{
  "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": false,
        "exclude_joints": [
          "gripper"
        ],
        "action_names": null
      }
    },
    {
      "registry_name": "framepick_processor_step",
      "config": {
        "channels": {
          "arm": 0
        },
        "frame_selector": {
          "type": "fixed",
          "assignment": {
            "arm": "base"
          }
        }
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {},
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "QUANTILES",
          "ACTION": "QUANTILES"
        }
      }
    },
    {
      "registry_name": "pi05_subtask_tokenize_processor_step",
      "config": {
        "tokenizer_name": "google/paligemma-3b-pt-224",
        "max_length": 200,
        "task_key": "task"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cpu",
        "float_dtype": null
      }
    }
  ]
}