Rayao/pi05_g1_blockstacking

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": "normalizer_processor",16      "config": {17        "eps": 1e-08,18        "features": {19          "observation.state": {20            "type": "STATE",21            "shape": [22              2823            ]24          },25          "observation.images.cam_left_high": {26            "type": "VISUAL",27            "shape": [28              3,29              480,30              64031            ]32          },33          "observation.images.cam_right_high": {34            "type": "VISUAL",35            "shape": [36              3,37              480,38              64039            ]40          },41          "observation.images.cam_left_wrist": {42            "type": "VISUAL",43            "shape": [44              3,45              480,46              64047            ]48          },49          "observation.images.cam_right_wrist": {50            "type": "VISUAL",51            "shape": [52              3,53              480,54              64055            ]56          },57          "action": {58            "type": "ACTION",59            "shape": [60              2861            ]62          }63        },64        "norm_map": {65          "VISUAL": "IDENTITY",66          "STATE": "QUANTILES",67          "ACTION": "QUANTILES"68        }69      },70      "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"71    },72    {73      "registry_name": "pi05_prepare_state_tokenizer_processor_step",74      "config": {}75    },76    {77      "registry_name": "tokenizer_processor",78      "config": {79        "max_length": 200,80        "task_key": "task",81        "padding_side": "right",82        "padding": "max_length",83        "truncation": true,84        "tokenizer_name": "google/paligemma-3b-pt-224"85      }86    },87    {88      "registry_name": "device_processor",89      "config": {90        "device": "cuda",91        "float_dtype": null92      }93    }94  ]95}