cupnb/ur10e_real_easy_pick_cube_angle

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": "smolvla_new_line_processor",16      "config": {}17    },18    {19      "registry_name": "tokenizer_processor",20      "config": {21        "max_length": 48,22        "task_key": "task",23        "padding_side": "right",24        "padding": "max_length",25        "truncation": true,26        "tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct"27      }28    },29    {30      "registry_name": "device_processor",31      "config": {32        "device": "cuda",33        "float_dtype": null34      }35    },36    {37      "registry_name": "normalizer_processor",38      "config": {39        "eps": 1e-08,40        "features": {41          "observation.state": {42            "type": "STATE",43            "shape": [44              745            ]46          },47          "observation.images.camera1": {48            "type": "VISUAL",49            "shape": [50              3,51              256,52              25653            ]54          },55          "observation.images.camera2": {56            "type": "VISUAL",57            "shape": [58              3,59              256,60              25661            ]62          },63          "observation.images.camera3": {64            "type": "VISUAL",65            "shape": [66              3,67              256,68              25669            ]70          },71          "action": {72            "type": "ACTION",73            "shape": [74              775            ]76          }77        },78        "norm_map": {79          "VISUAL": "IDENTITY",80          "STATE": "MEAN_STD",81          "ACTION": "MEAN_STD"82        }83      },84      "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"85    }86  ]87}