| { | |
| "name": "policy_preprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "rename_observations_processor", | |
| "config": { | |
| "rename_map": {} | |
| } | |
| }, | |
| { | |
| "registry_name": "to_batch_processor", | |
| "config": {} | |
| }, | |
| { | |
| "class": "lerobot_policy_rewind.processor_rewind.StackCameraEmbeddingsProcessorStep", | |
| "config": {} | |
| }, | |
| { | |
| "class": "lerobot_policy_rewind.processor_rewind.MiniLMTextEmbeddingProcessorStep", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cuda", | |
| "float_dtype": null | |
| } | |
| }, | |
| { | |
| "registry_name": "normalizer_processor", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "observation.dinov2.front_rgb": { | |
| "type": "STATE", | |
| "shape": [ | |
| 768 | |
| ] | |
| }, | |
| "observation.dinov2.wrist_rgb": { | |
| "type": "STATE", | |
| "shape": [ | |
| 768 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "LANGUAGE": "IDENTITY", | |
| "REWARD": "IDENTITY" | |
| } | |
| }, | |
| "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors" | |
| } | |
| ] | |
| } |