Songyuan666/robot_learning_tutorial_diffusion_example_model

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": null
19      }
20    },
21    {
22      "registry_name": "normalizer_processor",
23      "config": {
24        "eps": 1e-08,
25        "features": {
26          "observation.state": {
27            "type": "STATE",
28            "shape": [
29              6
30            ]
31          },
32          "observation.images.side": {
33            "type": "VISUAL",
34            "shape": [
35              3,
36              480,
37              640
38            ]
39          },
40          "observation.images.front": {
41            "type": "VISUAL",
42            "shape": [
43              3,
44              480,
45              640
46            ]
47          },
48          "action": {
49            "type": "ACTION",
50            "shape": [
51              6
52            ]
53          }
54        },
55        "norm_map": {
56          "VISUAL": "MEAN_STD",
57          "STATE": "MIN_MAX",
58          "ACTION": "MIN_MAX"
59        }
60      },
61      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
62    }
63  ]
64}