Migrate policy to PolicyProcessorPipeline system

README.md

@@ -6,8 +6,8 @@ license: apache-2.0
 model_name: smolvla
 pipeline_tag: robotics
 tags:
-- lerobot
 - smolvla
+- lerobot
 - robotics
 ---
 

config.json

@@ -8,7 +8,7 @@
                 6
             ]
         },
-        "observation.images.camera1": {
+        "observation.image2": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -16,7 +16,7 @@
                 256
             ]
         },
-        "observation.images.camera2": {
+        "observation.image": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -24,7 +24,7 @@
                 256
             ]
         },
-        "observation.camera3": {
+        "observation.image3": {
             "type": "VISUAL",
             "shape": [
                 3,

policy_postprocessor.json

@@ -1,13 +1,6 @@
 {
   "name": "policy_postprocessor",
   "steps": [
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cpu",
-        "float_dtype": null
-      }
-    },
     {
       "registry_name": "unnormalizer_processor",
       "config": {
@@ -26,7 +19,14 @@
           "ACTION": "MEAN_STD"
         }
       },
-      "state_file": "policy_postprocessor_step_1_unnormalizer_processor.safetensors"
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
     }
   ]
 }

policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:490ab239d96e263687c0b2e386a0afbc235a2eceb9857c36ed32f2f162a3e7c8
+size 640