| { | |
| "name": "policy_preprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "rename_observations_processor", | |
| "config": { | |
| "rename_map": {} | |
| } | |
| }, | |
| { | |
| "registry_name": "to_batch_processor", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "groot_pack_inputs_v3", | |
| "config": { | |
| "state_horizon": 1, | |
| "action_horizon": 16, | |
| "max_state_dim": 64, | |
| "max_action_dim": 32, | |
| "language_key": "task", | |
| "formalize_language": false, | |
| "embodiment_tag": "new_embodiment", | |
| "embodiment_mapping": { | |
| "new_embodiment": 31, | |
| "oxe_droid": 17, | |
| "agibot_genie1": 26, | |
| "gr1": 24, | |
| "so100": 2, | |
| "unitree_g1": 3 | |
| }, | |
| "normalize_min_max": true | |
| }, | |
| "state_file": "policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors" | |
| }, | |
| { | |
| "registry_name": "groot_eagle_encode_v3", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "groot_eagle_collate_v3", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cuda", | |
| "float_dtype": null | |
| } | |
| } | |
| ] | |
| } |