Update policy_preprocessor.json

policy_preprocessor.json

@@ -1,49 +1,85 @@
 {
-  "name": "policy_preprocessor",
-  "steps": [
-    {
-      "registry_name": "rename_observations_processor",
-      "config": {
-        "rename_map": {}
-      }
+  "type": "pi0",
+  "n_obs_steps": 1,
+  "input_features": {
+    "observation.state": {
+      "type": "STATE",
+      "shape": [
+        6
+      ]
     },
-    {
-      "registry_name": "to_batch_processor",
-      "config": {}
+    "observation.images.camera1": {
+      "type": "VISUAL",
+      "shape": [
+        3,
+        256,
+        256
+      ]
     },
-    {
-      "registry_name": "pi0_new_line_processor",
-      "config": {}
+    "observation.images.camera2": {
+      "type": "VISUAL",
+      "shape": [
+        3,
+        256,
+        256
+      ]
     },
-    {
-      "registry_name": "tokenizer_processor",
-      "config": {
-        "max_length": 48,
-        "task_key": "task",
-        "padding_side": "right",
-        "padding": "max_length",
-        "truncation": true,
-        "tokenizer_name": "google/paligemma-3b-pt-224"
-      }
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cuda",
-        "float_dtype": null
-      }
-    },
-    {
-      "registry_name": "normalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {},
-        "norm_map": {
-          "VISUAL": "IDENTITY",
-          "STATE": "MEAN_STD",
-          "ACTION": "MEAN_STD"
-        }
-      }
+    "observation.images.camera3": {
+      "type": "VISUAL",
+      "shape": [
+        3,
+        256,
+        256
+      ]
+    }
+  },
+  "output_features": {
+    "action": {
+      "type": "ACTION",
+      "shape": [
+        6
+      ]
     }
-  ]
+  },
+  "device": "cuda",
+  "use_amp": false,
+  "push_to_hub": true,
+  "repo_id": null,
+  "private": null,
+  "tags": null,
+  "license": null,
+  "chunk_size": 50,
+  "n_action_steps": 50,
+  "normalization_mapping": {
+    "VISUAL": "IDENTITY",
+    "STATE": "MEAN_STD",
+    "ACTION": "MEAN_STD"
+  },
+  "max_state_dim": 32,
+  "max_action_dim": 32,
+  "resize_imgs_with_padding": [
+    224,
+    224
+  ],
+  "empty_cameras": 0,
+  "adapt_to_pi_aloha": false,
+  "use_delta_joint_actions_aloha": false,
+  "tokenizer_max_length": 48,
+  "proj_width": 1024,
+  "num_steps": 10,
+  "use_cache": true,
+  "attention_implementation": "eager",
+  "freeze_vision_encoder": true,
+  "train_expert_only": false,
+  "train_state_proj": true,
+  "optimizer_lr": 0.000025,
+  "optimizer_betas": [
+    0.9,
+    0.95
+  ],
+  "optimizer_eps": 1e-8,
+  "optimizer_weight_decay": 1e-10,
+  "scheduler_warmup_steps": 1000,
+  "scheduler_decay_steps": 30000,
+  "scheduler_decay_lr": 0.0000025
 }