| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "pi0_new_line_processor", |
| "config": {} |
| }, |
| { |
| "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": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 26 |
| ] |
| }, |
| "observation.language.tokens": { |
| "type": "STATE", |
| "shape": [ |
| 48 |
| ] |
| }, |
| "observation.language.attention_mask": { |
| "type": "STATE", |
| "shape": [ |
| 48 |
| ] |
| }, |
| "observation.images.cam_left_high": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 848 |
| ] |
| }, |
| "observation.images.cam_third": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.tactiles.left_tactile_little_finger_tip": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 3, |
| 3 |
| ] |
| }, |
| "observation.tactiles.left_tactile_little_finger_nail": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 12, |
| 8 |
| ] |
| }, |
| "observation.tactiles.left_tactile_little_finger_pad": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 10, |
| 8 |
| ] |
| }, |
| "observation.tactiles.left_tactile_ring_finger_tip": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 3, |
| 3 |
| ] |
| }, |
| "observation.tactiles.left_tactile_ring_finger_nail": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 12, |
| 8 |
| ] |
| }, |
| "observation.tactiles.left_tactile_ring_finger_pad": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 10, |
| 8 |
| ] |
| }, |
| "observation.tactiles.left_tactile_middle_finger_tip": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 3, |
| 3 |
| ] |
| }, |
| "observation.tactiles.left_tactile_middle_finger_nail": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 12, |
| 8 |
| ] |
| }, |
| "observation.tactiles.left_tactile_middle_finger_pad": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 10, |
| 8 |
| ] |
| }, |
| "observation.tactiles.left_tactile_index_finger_tip": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 3, |
| 3 |
| ] |
| }, |
| "observation.tactiles.left_tactile_index_finger_nail": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 12, |
| 8 |
| ] |
| }, |
| "observation.tactiles.left_tactile_index_finger_pad": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 10, |
| 8 |
| ] |
| }, |
| "observation.tactiles.left_tactile_thumb_tip": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 3, |
| 3 |
| ] |
| }, |
| "observation.tactiles.left_tactile_thumb_nail": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 12, |
| 8 |
| ] |
| }, |
| "observation.tactiles.left_tactile_thumb_middle": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 3, |
| 3 |
| ] |
| }, |
| "observation.tactiles.left_tactile_thumb_pad": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 12, |
| 8 |
| ] |
| }, |
| "observation.tactiles.left_tactile_palm": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 8, |
| 14 |
| ] |
| }, |
| "observation.tactiles.right_tactile_little_finger_tip": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 3, |
| 3 |
| ] |
| }, |
| "observation.tactiles.right_tactile_little_finger_nail": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 12, |
| 8 |
| ] |
| }, |
| "observation.tactiles.right_tactile_little_finger_pad": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 10, |
| 8 |
| ] |
| }, |
| "observation.tactiles.right_tactile_ring_finger_tip": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 3, |
| 3 |
| ] |
| }, |
| "observation.tactiles.right_tactile_ring_finger_nail": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 12, |
| 8 |
| ] |
| }, |
| "observation.tactiles.right_tactile_ring_finger_pad": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 10, |
| 8 |
| ] |
| }, |
| "observation.tactiles.right_tactile_middle_finger_tip": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 3, |
| 3 |
| ] |
| }, |
| "observation.tactiles.right_tactile_middle_finger_nail": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 12, |
| 8 |
| ] |
| }, |
| "observation.tactiles.right_tactile_middle_finger_pad": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 10, |
| 8 |
| ] |
| }, |
| "observation.tactiles.right_tactile_index_finger_tip": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 3, |
| 3 |
| ] |
| }, |
| "observation.tactiles.right_tactile_index_finger_nail": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 12, |
| 8 |
| ] |
| }, |
| "observation.tactiles.right_tactile_index_finger_pad": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 10, |
| 8 |
| ] |
| }, |
| "observation.tactiles.right_tactile_thumb_tip": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 3, |
| 3 |
| ] |
| }, |
| "observation.tactiles.right_tactile_thumb_nail": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 12, |
| 8 |
| ] |
| }, |
| "observation.tactiles.right_tactile_thumb_middle": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 3, |
| 3 |
| ] |
| }, |
| "observation.tactiles.right_tactile_thumb_pad": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 12, |
| 8 |
| ] |
| }, |
| "observation.tactiles.right_tactile_palm": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 8, |
| 14 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 26 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors" |
| } |
| ] |
| } |
