samithva/stack_cups

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          "observation.state": {30            "type": "STATE",31            "shape": [32              733            ]34          },35          "observation.images.r_wrist": {36            "type": "VISUAL",37            "shape": [38              3,39              480,40              64041            ]42          },43          "observation.images.top": {44            "type": "VISUAL",45            "shape": [46              3,47              480,48              64049            ]50          },51          "observation.images.realsense": {52            "type": "VISUAL",53            "shape": [54              3,55              480,56              64057            ]58          },59          "action": {60            "type": "ACTION",61            "shape": [62              763            ]64          }65        },66        "norm_map": {67          "VISUAL": "IDENTITY",68          "STATE": "QUANTILES",69          "ACTION": "QUANTILES"70        }71      },72      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"73    },74    {75      "registry_name": "pi05_prepare_state_tokenizer_processor_step",76      "config": {}77    },78    {79      "registry_name": "tokenizer_processor",80      "config": {81        "max_length": 200,82        "task_key": "task",83        "padding_side": "right",84        "padding": "max_length",85        "truncation": true,86        "tokenizer_name": "google/paligemma-3b-pt-224"87      }88    },89    {90      "registry_name": "device_processor",91      "config": {92        "device": "cuda",93        "float_dtype": null94      }95    }96  ]97}