lerobot/pi0fast-base

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": false,18        "exclude_joints": [19          "gripper"20        ],21        "action_names": null22      }23    },24    {25      "registry_name": "normalizer_processor",26      "config": {27        "eps": 1e-08,28        "features": {},29        "norm_map": {30          "VISUAL": "IDENTITY",31          "STATE": "MEAN_STD",32          "ACTION": "MEAN_STD"33        }34      }35    },36    {37      "registry_name": "pi0_fast_prepare_state_tokenizer_processor_step",38      "config": {}39    },40    {41      "registry_name": "tokenizer_processor",42      "config": {43        "max_length": 200,44        "task_key": "task",45        "padding_side": "right",46        "padding": "max_length",47        "truncation": true,48        "tokenizer_name": "google/paligemma-3b-pt-224"49      }50    },51    {52      "registry_name": "action_tokenizer_processor",53      "config": {54        "trust_remote_code": true,55        "max_action_tokens": 256,56        "action_tokenizer_name": "physical-intelligence/fast"57      }58    },59    {60      "registry_name": "device_processor",61      "config": {62        "device": "cpu",63        "float_dtype": null64      }65    }66  ]67}