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t2

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t2
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{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {
          "observation.images.external": "observation.images.image",
          "observation.images.wrist": "observation.images.wrist_image"
        }
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "molmoact2_masked_normalizer",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.image": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.images.wrist_image": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              8
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "QUANTILES",
          "ACTION": "QUANTILES"
        }
      },
      "state_file": "policy_preprocessor_step_2_molmoact2_masked_normalizer.safetensors"
    },
    {
      "registry_name": "molmoact2_clamp_normalized",
      "config": {}
    },
    {
      "registry_name": "molmoact2_pack_inputs",
      "config": {
        "checkpoint_path": "allenai/MolmoAct2-LIBERO",
        "checkpoint_revision": null,
        "checkpoint_force_download": false,
        "trust_remote_code": true,
        "action_mode": "both",
        "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer",
        "image_keys": [
          "observation.images.image",
          "observation.images.wrist_image"
        ],
        "setup_type": "single franka robotic arm in libero",
        "control_mode": "delta end-effector pose",
        "normalize_language": true,
        "add_setup_tokens": true,
        "add_control_tokens": true,
        "num_state_tokens": 256,
        "max_sequence_length": null,
        "chunk_size": 10,
        "max_action_dim": 32,
        "env_action_dim": 7
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}