| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "smolvla_new_line_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "tokenizer_processor", |
| "config": { |
| "max_length": 48, |
| "task_key": "task", |
| "padding_side": "right", |
| "padding": "longest", |
| "truncation": true, |
| "tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct" |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 54 |
| ] |
| }, |
| "observation.images.robot_pov_cam": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 512, |
| 512 |
| ] |
| }, |
| "observation.hand_joint_state": { |
| "type": "STATE", |
| "shape": [ |
| 22 |
| ] |
| }, |
| "observation.head_joint_state": { |
| "type": "STATE", |
| "shape": [ |
| 3 |
| ] |
| }, |
| "observation.left_eef_pos": { |
| "type": "STATE", |
| "shape": [ |
| 3 |
| ] |
| }, |
| "observation.left_eef_quat": { |
| "type": "STATE", |
| "shape": [ |
| 4 |
| ] |
| }, |
| "observation.right_eef_pos": { |
| "type": "STATE", |
| "shape": [ |
| 3 |
| ] |
| }, |
| "observation.right_eef_quat": { |
| "type": "STATE", |
| "shape": [ |
| 4 |
| ] |
| }, |
| "observation.robot_root_pos": { |
| "type": "STATE", |
| "shape": [ |
| 3 |
| ] |
| }, |
| "observation.robot_root_rot": { |
| "type": "STATE", |
| "shape": [ |
| 4 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 36 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| } |
| }, |
| "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors" |
| } |
| ] |
| } |
