| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "render_messages_processor", |
| "config": { |
| "recipe": { |
| "messages": [ |
| { |
| "role": "user", |
| "content": "${task}", |
| "stream": "low_level", |
| "target": false, |
| "if_present": null, |
| "tool_calls_from": null |
| }, |
| { |
| "role": "assistant", |
| "content": "${subtask}", |
| "stream": "low_level", |
| "target": true, |
| "if_present": "subtask", |
| "tool_calls_from": null |
| } |
| ], |
| "bindings": null, |
| "blend": null, |
| "weight": null, |
| "route": null |
| }, |
| "render_training": false |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "normalizer_processor", |
| "config": { |
| "eps": 1e-08, |
| "features": { |
| "observation.images.robot0_agentview_left": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.images.robot0_agentview_right": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.images.robot0_eye_in_hand": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.state.eef_position": { |
| "type": "STATE", |
| "shape": [ |
| 3 |
| ] |
| }, |
| "observation.state.eef_rotation": { |
| "type": "STATE", |
| "shape": [ |
| 3 |
| ] |
| }, |
| "observation.state.gripper_qpos": { |
| "type": "STATE", |
| "shape": [ |
| 2 |
| ] |
| }, |
| "observation.state.base_position": { |
| "type": "STATE", |
| "shape": [ |
| 3 |
| ] |
| }, |
| "observation.state.base_rotation": { |
| "type": "STATE", |
| "shape": [ |
| 3 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 12 |
| ] |
| } |
| }, |
| "norm_map": { |
| "VISUAL": "IDENTITY", |
| "STATE": "IDENTITY", |
| "ACTION": "IDENTITY" |
| } |
| } |
| }, |
| { |
| "registry_name": "being_h05_semantic_pack", |
| "config": { |
| "image_keys": [ |
| "observation.images.robot0_agentview_left", |
| "observation.images.robot0_agentview_right", |
| "observation.images.robot0_eye_in_hand" |
| ], |
| "prompt_template": "According to the instruction '{task_description}', what's the micro-step actions in the next {k} steps?", |
| "chunk_size": 16, |
| "state_slots": { |
| "eef_position": [ |
| 0, |
| 3 |
| ], |
| "eef_rotation": [ |
| 3, |
| 6 |
| ], |
| "gripper_qpos": [ |
| 44, |
| 46 |
| ], |
| "base_position": [ |
| 70, |
| 73 |
| ], |
| "base_rotation": [ |
| 73, |
| 76 |
| ] |
| }, |
| "action_slots": { |
| "eef_position": [ |
| 0, |
| 3 |
| ], |
| "eef_rotation": [ |
| 3, |
| 6 |
| ], |
| "gripper_position": [ |
| 18, |
| 19 |
| ], |
| "base_motion": [ |
| 70, |
| 74 |
| ], |
| "control_mode": [ |
| 74, |
| 75 |
| ] |
| } |
| } |
| }, |
| { |
| "registry_name": "being_h05_messages", |
| "config": {} |
| }, |
| { |
| "registry_name": "being_h05_tokenizer", |
| "config": { |
| "tokenizer_name": "BeingBeyond/Being-H05-2B", |
| "system_message": "你是由上海人工智能实验室联合商汤科技开发的书生多模态大模型，英文名叫InternVL, 是一个有用无害的人工智能助手。", |
| "tokenizer_revision": "bb31ffcf7d67a8d5ec82d715d5e1678581ef6374" |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
|
|
