{
  "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.image": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.images.image2": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              7
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "MIN_MAX",
          "ACTION": "MIN_MAX"
        }
      },
      "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
    },
    {
      "registry_name": "longwam_observations",
      "config": {
        "camera_keys": [
          "observation.images.image",
          "observation.images.image2"
        ],
        "camera_size": [
          224,
          224
        ],
        "image_dtype": "bfloat16"
      }
    },
    {
      "registry_name": "longwam_action_clamp",
      "config": {}
    },
    {
      "registry_name": "longwam_prompt",
      "config": {
        "prompt_template": "A video recorded from a robot's point of view executing the following instruction: {task}"
      }
    },
    {
      "registry_name": "tokenizer_processor",
      "config": {
        "max_length": 128,
        "task_key": "task",
        "padding_side": "right",
        "padding": "max_length",
        "truncation": true,
        "tokenizer_name": "google/umt5-xxl"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cpu",
        "float_dtype": null
      }
    }
  ]
}