| { | |
| "name": "policy_preprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "rename_observations_processor", | |
| "config": { | |
| "rename_map": { | |
| "observation.images.on_top": "observation.images.scene", | |
| "observation.images.camera_on_follower": "observation.images.wrist" | |
| } | |
| } | |
| }, | |
| { | |
| "registry_name": "to_batch_processor", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cuda", | |
| "float_dtype": null | |
| } | |
| }, | |
| { | |
| "registry_name": "flux3_action_history_normalizer", | |
| "config": { | |
| "action_dim": 6, | |
| "action_representation": "delta", | |
| "absolute_dims": [ | |
| -1 | |
| ], | |
| "normalization_clip": 6.0, | |
| "n_obs_steps": 1, | |
| "chunk_size": 32, | |
| "camera_keys": [ | |
| "observation.images.scene", | |
| "observation.images.wrist" | |
| ], | |
| "condition_on_past_actions": false | |
| }, | |
| "state_file": "policy_preprocessor_step_3_flux3_action_history_normalizer.safetensors" | |
| } | |
| ] | |
| } |