| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": { |
| "observation.images.base": "observation.images.cam_high", |
| "observation.images.left_wrist": "observation.images.cam_left_wrist", |
| "observation.images.right_wrist": "observation.images.cam_right_wrist" |
| } |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "relative_actions_processor", |
| "config": { |
| "enabled": true, |
| "exclude_joints": [ |
| "gripper" |
| ], |
| "action_names": [ |
| "right_joint_1.pos", |
| "right_joint_2.pos", |
| "right_joint_3.pos", |
| "right_joint_4.pos", |
| "right_joint_5.pos", |
| "right_joint_6.pos", |
| "right_joint_7.pos", |
| "right_gripper.pos", |
| "left_joint_1.pos", |
| "left_joint_2.pos", |
| "left_joint_3.pos", |
| "left_joint_4.pos", |
| "left_joint_5.pos", |
| "left_joint_6.pos", |
| "left_joint_7.pos", |
| "left_gripper.pos" |
| ] |
| } |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.images.cam_high": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.cam_left_wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.cam_right_wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 16 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "IDENTITY", |
| "ACTION": "QUANTILES" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
