ASBlab-multirobot/groot-giver-claude-modifydataset

1{2  "name": "policy_preprocessor",3  "steps": [4    {5      "registry_name": "rename_observations_processor",6      "config": {7        "rename_map": {}8      }9    },10    {11      "registry_name": "to_batch_processor",12      "config": {}13    },14    {15      "registry_name": "groot_pack_inputs_v3",16      "config": {17        "state_horizon": 1,18        "action_horizon": 16,19        "max_state_dim": 64,20        "max_action_dim": 32,21        "language_key": "task",22        "formalize_language": false,23        "embodiment_tag": "new_embodiment",24        "embodiment_mapping": {25          "new_embodiment": 31,26          "oxe_droid": 17,27          "agibot_genie1": 26,28          "gr1": 24,29          "so100": 2,30          "unitree_g1": 331        },32        "normalize_min_max": true33      },34      "state_file": "policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors"35    },36    {37      "registry_name": "groot_eagle_encode_v3",38      "config": {}39    },40    {41      "registry_name": "groot_eagle_collate_v3",42      "config": {}43    },44    {45      "registry_name": "device_processor",46      "config": {47        "device": "cuda",48        "float_dtype": null49      }50    }51  ]52}