lerobot/pi0_old

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": "pi0_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": "google/paligemma-3b-pt-224"27      }28    },29    {30      "registry_name": "device_processor",31      "config": {32        "device": "cpu",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              645            ]46          },47          "observation.images.camera0": {48            "type": "VISUAL",49            "shape": [50              3,51              480,52              64053            ]54          },55          "observation.images.camera1": {56            "type": "VISUAL",57            "shape": [58              3,59              480,60              64061            ]62          },63          "observation.images.camera2": {64            "type": "VISUAL",65            "shape": [66              3,67              480,68              64069            ]70          },71          "action": {72            "type": "ACTION",73            "shape": [74              675            ]76          }77        },78        "norm_map": {79          "VISUAL": "IDENTITY",80          "STATE": "MEAN_STD",81          "ACTION": "MEAN_STD"82        }83      }84    }85  ]86}