{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.state": {
            "type": "STATE",
            "shape": [
              6
            ]
          },
          "observation.images.top": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              6
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "QUANTILES",
          "ACTION": "IDENTITY"
        },
        "normalize_observation_keys": [
          "observation.state"
        ]
      },
      "state_file": "policy_preprocessor_step_1_normalizer_processor.safetensors"
    },
    {
      "registry_name": "pistar06_prepare_task_prompt",
      "config": {
        "task_key": "task",
        "include_state_in_prompt": true,
        "state_feature": "observation.state",
        "max_state_dim": 32,
        "state_discretization_bins": 256
      }
    },
    {
      "registry_name": "tokenizer_processor",
      "config": {
        "max_length": 200,
        "task_key": "task",
        "padding_side": "right",
        "padding": "max_length",
        "truncation": true,
        "tokenizer_name": "google/gemma-3-270m"
      }
    },
    {
      "registry_name": "pistar06_prepare_images",
      "config": {
        "camera_features": [
          "observation.images.top",
          "observation.images.wrist"
        ]
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}