Dimios45/act_tactile_charger_50ep

1{2  "name": "policy_preprocessor",3  "steps": [4    {5      "registry_name": "rename_observations_processor",6      "config": {7        "rename_map": {}8      }9    },10    {11      "class": "lerobot.processor.tactile_processor.TactileValidationProcessorStep",12      "config": {}13    },14    {15      "registry_name": "to_batch_processor",16      "config": {}17    },18    {19      "registry_name": "device_processor",20      "config": {21        "device": "cuda",22        "float_dtype": null23      }24    },25    {26      "registry_name": "normalizer_processor",27      "config": {28        "eps": 1e-08,29        "features": {30          "observation.state": {31            "type": "STATE",32            "shape": [33              634            ]35          },36          "observation.images.gripper": {37            "type": "VISUAL",38            "shape": [39              3,40              224,41              22442            ]43          },44          "observation.images.top": {45            "type": "VISUAL",46            "shape": [47              3,48              224,49              22450            ]51          },52          "observation.tactile.primary": {53            "type": "STATE",54            "shape": [55              12,56              3257            ]58          },59          "action": {60            "type": "ACTION",61            "shape": [62              663            ]64          }65        },66        "norm_map": {67          "VISUAL": "MEAN_STD",68          "STATE": "MEAN_STD",69          "ACTION": "MEAN_STD",70          "TACTILE": "MEAN_STD"71        }72      },73      "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors"74    }75  ]76}