| { | |
| "name": "policy_preprocessor", | |
| "steps": [ | |
| { | |
| "registry_name": "rename_observations_processor", | |
| "config": { | |
| "rename_map": {} | |
| } | |
| }, | |
| { | |
| "registry_name": "starvla_libero_state", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "to_batch_processor", | |
| "config": {} | |
| }, | |
| { | |
| "registry_name": "starvla_libero_gripper_target", | |
| "config": { | |
| "gripper_action_indices": [], | |
| "threshold": 0.0 | |
| } | |
| }, | |
| { | |
| "registry_name": "normalizer_processor", | |
| "config": { | |
| "eps": 1e-08, | |
| "features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 9 | |
| ] | |
| }, | |
| "observation.velocity": { | |
| "type": "STATE", | |
| "shape": [ | |
| 9 | |
| ] | |
| }, | |
| "observation.images.main_camera": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 240, | |
| 320 | |
| ] | |
| }, | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 9 | |
| ] | |
| } | |
| }, | |
| "norm_map": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "QUANTILES", | |
| "ACTION": "MIN_MAX" | |
| } | |
| }, | |
| "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors" | |
| }, | |
| { | |
| "registry_name": "starvla_binary_action", | |
| "config": { | |
| "binary_action_indices": [], | |
| "threshold": 0.5 | |
| } | |
| }, | |
| { | |
| "registry_name": "starvla_pack_examples", | |
| "config": { | |
| "image_keys": [ | |
| "observation.images.main_camera" | |
| ], | |
| "task_key": "task", | |
| "default_task": "", | |
| "use_state": true, | |
| "image_size": [ | |
| 224, | |
| 224 | |
| ] | |
| } | |
| } | |
| ] | |
| } |