| { | |
| "name": "policy_postprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "starvla_clip_action", | |
| "config": { | |
| "enabled": true, | |
| "min_value": -1.0, | |
| "max_value": 1.0 | |
| } | |
| }, | |
| { | |
| "registry_name": "starvla_binary_action", | |
| "config": { | |
| "binary_action_indices": [], | |
| "threshold": 0.5 | |
| } | |
| }, | |
| { | |
| "registry_name": "unnormalizer_processor", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 9 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "QUANTILES", | |
| "ACTION": "MIN_MAX" | |
| } | |
| }, | |
| "state_file": "policy_postprocessor_step_2_unnormalizer_processor.safetensors" | |
| }, | |
| { | |
| "registry_name": "starvla_libero_gripper_action", | |
| "config": { | |
| "gripper_action_indices": [], | |
| "threshold": 0.5 | |
| } | |
| }, | |
| { | |
| "registry_name": "device_processor", | |
| "config": { | |
| "device": "cpu", | |
| "float_dtype": null | |
| } | |
| } | |
| ] | |
| } |