dreamdifferent/pi05_homogeneous_lora

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": "relative_actions_processor",16      "config": {17        "enabled": true,18        "exclude_joints": [19          "gripper"20        ],21        "action_names": [22          "shoulder_pan.pos",23          "shoulder_lift.pos",24          "elbow_flex.pos",25          "wrist_flex.pos",26          "wrist_roll.pos",27          "gripper.pos"28        ]29      }30    },31    {32      "registry_name": "normalizer_processor",33      "config": {34        "eps": 1e-08,35        "features": {36          "observation.state": {37            "type": "STATE",38            "shape": [39              640            ]41          },42          "observation.images.wrist": {43            "type": "VISUAL",44            "shape": [45              3,46              480,47              64048            ]49          },50          "observation.images.front": {51            "type": "VISUAL",52            "shape": [53              3,54              480,55              64056            ]57          },58          "action": {59            "type": "ACTION",60            "shape": [61              662            ]63          }64        },65        "norm_map": {66          "VISUAL": "IDENTITY",67          "STATE": "QUANTILES",68          "ACTION": "QUANTILES"69        }70      },71      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"72    },73    {74      "registry_name": "pi05_prepare_state_tokenizer_processor_step",75      "config": {}76    },77    {78      "registry_name": "tokenizer_processor",79      "config": {80        "max_length": 200,81        "task_key": "task",82        "padding_side": "right",83        "padding": "max_length",84        "truncation": true,85        "tokenizer_name": "google/paligemma-3b-pt-224"86      }87    },88    {89      "registry_name": "device_processor",90      "config": {91        "device": "cuda",92        "float_dtype": null93      }94    }95  ]96}