| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "groot_pack_inputs_v3", |
| "config": { |
| "state_horizon": 1, |
| "action_horizon": 16, |
| "max_state_dim": 64, |
| "max_action_dim": 32, |
| "language_key": "task", |
| "formalize_language": false, |
| "embodiment_tag": "new_embodiment", |
| "embodiment_mapping": { |
| "new_embodiment": 31, |
| "oxe_droid": 17, |
| "agibot_genie1": 26, |
| "gr1": 24, |
| "so100": 2, |
| "unitree_g1": 3 |
| }, |
| "normalize_min_max": true |
| }, |
| "state_file": "policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors" |
| }, |
| { |
| "registry_name": "groot_eagle_encode_v3", |
| "config": {} |
| }, |
| { |
| "registry_name": "groot_eagle_collate_v3", |
| "config": {} |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
