aDaikiKamata/patch_policy_libero10_tipsv2_lang

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.images.image": {27            "type": "VISUAL",28            "shape": [29              3,30              256,31              25632            ]33          },34          "observation.images.wrist_image": {35            "type": "VISUAL",36            "shape": [37              3,38              256,39              25640            ]41          },42          "observation.state": {43            "type": "STATE",44            "shape": [45              846            ]47          },48          "action": {49            "type": "ACTION",50            "shape": [51              752            ]53          }54        },55        "norm_map": {56          "VISUAL": "IDENTITY",57          "STATE": "MIN_MAX",58          "ACTION": "MIN_MAX"59        }60      },61      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"62    }63  ]64}