policy_preprocessor.json

{
  "name": "policy_preprocessor",
  "input_image_format": "uint8_0_255",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "groot_n1_7_pack_inputs_v1",
      "config": {
        "state_horizon": 1,
        "action_horizon": 40,
        "valid_action_horizon": 40,
        "video_horizon": null,
        "max_state_dim": 132,
        "max_action_dim": 132,
        "language_key": "task",
        "formalize_language": true,
        "embodiment_tag": "libero_sim",
        "embodiment_mapping": {
          "robocasa_panda_omron": 13,
          "oxe_droid": 17,
          "oxe_fractal": 18,
          "oxe_language_table": 19,
          "oxe_bridge": 20,
          "unknown": 22,
          "gr1_unified": 20,
          "agibot": 26,
          "sim_behavior_r1_pro": 23,
          "xdof": 24,
          "xdof_oss_data": 25,
          "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
          "real_r1_pro_sharpa": 27,
          "real_r1_pro_sharpa_add_view": 27,
          "real_r1_pro_sharpa_relative_arm_joint": 26,
          "real_r1_pro_sharpa_delta_eef": 26,
          "real_r1_pro_sharpa_absolute_eef": 26,
          "real_r1_pro_sharpa_meanstd": 26,
          "real_r1_pro_sharpa_relative_eef": 26,
          "real_r1_pro_sharpa_relative_eef_add_view": 26,
          "real_r1_pro_sharpa_relative_eef_relative_hand": 26,
          "real_r1_pro_sharpa_relative_eef_human": 26,
          "real_r1_pro_sharpa_relative_eef_human_add_view": 26,
          "real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
          "real_r1_pro_sharpa_relative_eef_egodex": 26,
          "real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
          "real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
          "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
          "real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
          "real_r1_pro_sharpa_relative_eef_mecka": 26,
          "real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
          "real_g1_relative_eef_absolute_joints": 25,
          "real_g1_relative_eef_absolute_joints_wrist_cam": 25,
          "real_g1_relative_eef_relative_joints": 25,
          "real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
          "real_r1_pro_sharpa_relative_joint": 29,
          "oxe_droid_relative_eef_relative_joint": 24,
          "oxe_droid_relative_eef_relative_joint_swapped": 24,
          "oxe_droid_relative_eef_relative_joint_upweight_z": 24,
          "oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
          "oxe_droid_relative_eef_relative_joint_3view": 24,
          "oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
          "oxe_droid_relative_eef": 24,
          "oxe_droid_joint_position_relative": 24,
          "xdof_relative_eef_relative_joint": 27,
          "xdof_relative_eef_relative_joint_subtask": 27,
          "xdof_relative_eef": 27,
          "xdof_relative_joint": 28,
          "simpler_env_google": 0,
          "simpler_env_widowx": 1,
          "libero_sim": 2,
          "droid_sim": 3
        },
        "normalize_min_max": true,
        "state_dropout_prob": 0.2,
        "clip_outliers": true,
        "use_percentiles": true,
        "video_modality_keys": null,
        "raw_stats": {},
        "modality_config": {}
      },
      "state_file": "policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors"
    },
    {
      "registry_name": "groot_n1_7_vlm_encode_v1",
      "config": {
        "model_name": "nvidia/Cosmos-Reason2-2B",
        "image_crop_size": [
          230,
          230
        ],
        "image_target_size": [
          256,
          256
        ],
        "shortest_image_edge": 256,
        "crop_fraction": 0.95,
        "use_albumentations": true,
        "letter_box_transform": false,
        "device": "cuda"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}