fracapuano/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": "mps",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              630            ]31          },32          "observation.images.up": {33            "type": "VISUAL",34            "shape": [35              3,36              480,37              64038            ]39          },40          "observation.images.side": {41            "type": "VISUAL",42            "shape": [43              3,44              480,45              64046            ]47          },48          "action": {49            "type": "ACTION",50            "shape": [51              652            ]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}