giacomoran/so101_cube_dm_act_smooth_p4f2

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.wrist": {27            "type": "VISUAL",28            "shape": [29              3,30              640,31              48032            ]33          },34          "action": {35            "type": "ACTION",36            "shape": [37              638            ]39          }40        },41        "norm_map": {42          "VISUAL": "MEAN_STD",43          "STATE": "MEAN_STD",44          "ACTION": "MEAN_STD"45        }46      },47      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"48    }49  ]50}