author31/cup-stacking-front-ACT

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              930            ]31          },32          "observation.images.front": {33            "type": "VISUAL",34            "shape": [35              3,36              480,37              64038            ]39          },40          "action": {41            "type": "ACTION",42            "shape": [43              844            ]45          }46        },47        "norm_map": {48          "VISUAL": "MEAN_STD",49          "STATE": "MEAN_STD",50          "ACTION": "MEAN_STD"51        }52      },53      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"54    }55  ]56}