shashuo0104/260407_insertion_predictive_dp

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.front": {27            "type": "VISUAL",28            "shape": [29              3,30              144,31              25632            ]33          },34          "observation.images.right_wrist_top": {35            "type": "VISUAL",36            "shape": [37              3,38              144,39              25640            ]41          },42          "observation.images.right_wrist_bottom": {43            "type": "VISUAL",44            "shape": [45              3,46              144,47              25648            ]49          },50          "observation.state": {51            "type": "STATE",52            "shape": [53              754            ]55          },56          "action": {57            "type": "ACTION",58            "shape": [59              760            ]61          }62        },63        "norm_map": {64          "VISUAL": "MEAN_STD",65          "STATE": "MIN_MAX",66          "ACTION": "MIN_MAX"67        }68      },69      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"70    }71  ]72}