policy_preprocessor.json

{
  "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": "geonmin-kim/Cosmos3-Edge-Policy-SO101-init",
        "local_files_only": false
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cpu",
        "float_dtype": null
      }
    }
  ]
}