MotionforgeGroup/DiffusionPolicy-FC-80000-3views

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": "device_processor",16      "config": {17        "device": "cuda",18        "float_dtype": null19      }20    },21    {22      "registry_name": "normalizer_processor",23      "config": {24        "eps": 1e-08,25        "features": {26          "observation.state": {27            "type": "STATE",28            "shape": [29              1030            ]31          },32          "observation.images.overview": {33            "type": "VISUAL",34            "shape": [35              3,36              240,37              32038            ]39          },40          "observation.images.front": {41            "type": "VISUAL",42            "shape": [43              3,44              240,45              32046            ]47          },48          "observation.images.wrist": {49            "type": "VISUAL",50            "shape": [51              3,52              240,53              32054            ]55          },56          "action": {57            "type": "ACTION",58            "shape": [59              1060            ]61          }62        },63        "norm_map": {64          "VISUAL": "MEAN_STD",65          "STATE": "MIN_MAX",66          "ACTION": "MIN_MAX"67        }68      },69      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"70    }71  ]72}