DataLabHell/smolvla_so100_stack_cubes_v3

1{2  "name": "policy_preprocessor",3  "steps": [4    {5      "registry_name": "rename_observations_processor",6      "config": {7        "rename_map": {8          "observation.images.front": "observation.images.camera1",9          "observation.images.gripper": "observation.images.camera2",10          "observation.images.right_side": "observation.images.camera3"11        }12      }13    },14    {15      "registry_name": "to_batch_processor",16      "config": {}17    },18    {19      "registry_name": "smolvla_new_line_processor",20      "config": {}21    },22    {23      "registry_name": "tokenizer_processor",24      "config": {25        "max_length": 48,26        "task_key": "task",27        "padding_side": "right",28        "padding": "max_length",29        "truncation": true,30        "tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct"31      }32    },33    {34      "registry_name": "device_processor",35      "config": {36        "device": "cuda",37        "float_dtype": null38      }39    },40    {41      "registry_name": "normalizer_processor",42      "config": {43        "eps": 1e-08,44        "features": {45          "observation.state": {46            "type": "STATE",47            "shape": [48              649            ]50          },51          "observation.images.camera1": {52            "type": "VISUAL",53            "shape": [54              3,55              256,56              25657            ]58          },59          "observation.images.camera2": {60            "type": "VISUAL",61            "shape": [62              3,63              256,64              25665            ]66          },67          "observation.images.camera3": {68            "type": "VISUAL",69            "shape": [70              3,71              256,72              25673            ]74          },75          "action": {76            "type": "ACTION",77            "shape": [78              679            ]80          }81        },82        "norm_map": {83          "VISUAL": "IDENTITY",84          "STATE": "MEAN_STD",85          "ACTION": "MEAN_STD"86        }87      },88      "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"89    }90  ]91}