policy_preprocessor.json
| 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": "smolvla_new_line_processor", |
| 16 | "config": {} |
| 17 | }, |
| 18 | { |
| 19 | "registry_name": "tokenizer_processor", |
| 20 | "config": { |
| 21 | "max_length": 48, |
| 22 | "task_key": "task", |
| 23 | "padding_side": "right", |
| 24 | "padding": "longest", |
| 25 | "truncation": true, |
| 26 | "tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Instruct" |
| 27 | } |
| 28 | }, |
| 29 | { |
| 30 | "registry_name": "device_processor", |
| 31 | "config": { |
| 32 | "device": "cuda", |
| 33 | "float_dtype": null |
| 34 | } |
| 35 | }, |
| 36 | { |
| 37 | "registry_name": "normalizer_processor", |
| 38 | "config": { |
| 39 | "eps": 1e-08, |
| 40 | "features": { |
| 41 | "observation.images.image": { |
| 42 | "type": "VISUAL", |
| 43 | "shape": [ |
| 44 | 3, |
| 45 | 256, |
| 46 | 256 |
| 47 | ] |
| 48 | }, |
| 49 | "observation.images.image2": { |
| 50 | "type": "VISUAL", |
| 51 | "shape": [ |
| 52 | 3, |
| 53 | 256, |
| 54 | 256 |
| 55 | ] |
| 56 | }, |
| 57 | "observation.state": { |
| 58 | "type": "STATE", |
| 59 | "shape": [ |
| 60 | 8 |
| 61 | ] |
| 62 | }, |
| 63 | "action": { |
| 64 | "type": "ACTION", |
| 65 | "shape": [ |
| 66 | 7 |
| 67 | ] |
| 68 | } |
| 69 | }, |
| 70 | "norm_map": { |
| 71 | "VISUAL": "IDENTITY", |
| 72 | "STATE": "MEAN_STD", |
| 73 | "ACTION": "MEAN_STD" |
| 74 | } |
| 75 | }, |
| 76 | "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors" |
| 77 | } |
| 78 | ] |
| 79 | } |