ppegiosk/gello_hil_eo

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": "normalizer_processor",16      "config": {17        "eps": 1e-08,18        "features": {19          "observation.state": {20            "type": "STATE",21            "shape": [22              723            ]24          },25          "observation.images.front": {26            "type": "VISUAL",27            "shape": [28              3,29              480,30              64031            ]32          },33          "observation.images.wrist": {34            "type": "VISUAL",35            "shape": [36              3,37              480,38              64039            ]40          },41          "action": {42            "type": "ACTION",43            "shape": [44              745            ]46          }47        },48        "norm_map": {49          "VISUAL": "IDENTITY",50          "STATE": "QUANTILES",51          "ACTION": "QUANTILES"52        }53      },54      "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"55    },56    {57      "registry_name": "pi05_prepare_state_tokenizer_processor_step",58      "config": {}59    },60    {61      "registry_name": "tokenizer_processor",62      "config": {63        "max_length": 200,64        "task_key": "task",65        "padding_side": "right",66        "padding": "max_length",67        "truncation": true,68        "tokenizer_name": "google/paligemma-3b-pt-224"69      }70    },71    {72      "registry_name": "device_processor",73      "config": {74        "device": "cuda",75        "float_dtype": null76      }77    }78  ]79}