| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 360, |
| 640 |
| ] |
| }, |
| "observation.images.top": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 360, |
| 640 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
| } |
| } |
| }, |
| { |
| "registry_name": "cosmos3_pack_inputs", |
| "config": { |
| "image_keys": [ |
| "observation.images.wrist", |
| "observation.images.top" |
| ], |
| "num_views": 3, |
| "image_height": 360, |
| "chunk_size": 32, |
| "raw_action_dim": 6, |
| "max_action_dim": 64, |
| "max_state_dim": 6, |
| "use_state": true, |
| "history_length": 1, |
| "invert_gripper": false, |
| "domain_id": 8, |
| "conditioning_fps": 30.0, |
| "resolution_tier": 480, |
| "viewpoint": "concat_view", |
| "additional_view_description": "The top row is from the wrist-mounted camera. The bottom row contains a third-person top-down view of the scene with the robot visible, and a blank padded view.", |
| "prompt_key": "task", |
| "composed_image_height": 540, |
| "composed_image_width": 640 |
| } |
| }, |
| { |
| "registry_name": "cosmos3_qwen_prompt_tokenizer", |
| "config": { |
| "processor_name": "/NHNHOME/WORKSPACE/26-AD010033_A/gmkim/xpu-lerobot/checkpoints/Cosmos3-Edge-Policy-SO101-init", |
| "local_files_only": true |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cpu", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
