{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "groot_n1_7_pack_inputs_v1",
      "config": {
        "state_horizon": 1,
        "action_horizon": 40,
        "valid_action_horizon": 32,
        "video_horizon": null,
        "max_state_dim": 132,
        "max_action_dim": 132,
        "language_key": "task",
        "formalize_language": true,
        "embodiment_tag": "new_embodiment",
        "embodiment_mapping": {
          "oxe_droid_relative_eef_relative_joint": 24,
          "xdof_relative_eef_relative_joint": 27,
          "xdof_relative_eef_relative_joint_subtask": 27,
          "real_g1_relative_eef_relative_joints": 25,
          "real_r1_pro_sharpa_relative_eef": 26,
          "real_r1_pro_sharpa_relative_eef_human": 26,
          "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
          "real_r1_pro_sharpa_relative_eef_mecka": 26,
          "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
          "simpler_env_google": 0,
          "simpler_env_widowx": 1,
          "libero_sim": 2,
          "new_embodiment": 10
        },
        "normalize_min_max": true,
        "state_dropout_prob": 0.0,
        "clip_outliers": true,
        "use_percentiles": true,
        "video_modality_keys": [
          "base",
          "wrist"
        ],
        "raw_stats": {
          "state": {
            "single_arm": {
              "min": [
                -69.65966796875,
                -98.97480010986328,
                -28.52489471435547,
                -32.4022331237793,
                -22.58852195739746
              ],
              "max": [
                36.49529266357422,
                51.73003005981445,
                99.90693664550781,
                84.3575439453125,
                11.40415096282959
              ],
              "mean": [
                -11.562076568603516,
                -42.563961029052734,
                64.95039367675781,
                17.616971969604492,
                -6.1551690101623535
              ],
              "std": [
                18.109582901000977,
                39.78868865966797,
                28.077117919921875,
                17.264963150024414,
                3.7648561000823975
              ],
              "count": [
                156826
              ],
              "q01": [
                -37.07211685180664,
                -96.30711364746094,
                8.482102394104004,
                -4.511136531829834,
                -11.64907455444336
              ],
              "q10": [
                -34.45644760131836,
                -95.5499496459961,
                21.899442672729492,
                -2.4085006713867188,
                -10.818305969238281
              ],
              "q50": [
                -9.978124618530273,
                -41.1188850402832,
                66.55693054199219,
                16.423973083496094,
                -6.017032623291016
              ],
              "q90": [
                7.460702419281006,
                13.124140739440918,
                99.1600570678711,
                39.06581115722656,
                -1.8059526681900024
              ],
              "q99": [
                10.458932876586914,
                27.376998901367188,
                99.38044738769531,
                54.608577728271484,
                0.1730411946773529
              ]
            },
            "gripper": {
              "min": [
                0.5517241358757019
              ],
              "max": [
                98.62068939208984
              ],
              "mean": [
                29.379440307617188
              ],
              "std": [
                23.805925369262695
              ],
              "count": [
                156826
              ],
              "q01": [
                0.822717010974884
              ],
              "q10": [
                0.8393647074699402
              ],
              "q50": [
                32.26446533203125
              ],
              "q90": [
                60.72358703613281
              ],
              "q99": [
                67.56818389892578
              ]
            }
          },
          "action": {
            "single_arm": {
              "min": [
                -70.16453552246094,
                -99.91448974609375,
                -39.88176345825195,
                -33.632286071777344,
                -22.686203002929688
              ],
              "max": [
                36.89213943481445,
                51.175716400146484,
                100.0,
                84.67182922363281,
                9.841269493103027
              ],
              "mean": [
                -11.523978233337402,
                -43.72109603881836,
                61.280235290527344,
                17.008214950561523,
                -6.128861904144287
              ],
              "std": [
                18.112668991088867,
                39.456302642822266,
                30.57616424560547,
                17.44113540649414,
                3.76234769821167
              ],
              "count": [
                156826
              ],
              "q01": [
                -37.46903991699219,
                -97.23509979248047,
                -0.346286803483963,
                -5.557885646820068,
                -11.747977256774902
              ],
              "q10": [
                -34.358009338378906,
                -96.37992858886719,
                14.185639381408691,
                -3.3257622718811035,
                -10.783801078796387
              ],
              "q50": [
                -9.949206352233887,
                -42.311767578125,
                63.399017333984375,
                15.902100563049316,
                -5.966132164001465
              ],
              "q90": [
                7.483488082885742,
                10.968978881835938,
                99.58677673339844,
                38.54119873046875,
                -1.8321789503097534
              ],
              "q99": [
                10.749146461486816,
                26.399892807006836,
                99.93531036376953,
                54.6517219543457,
                0.234195739030838
              ]
            },
            "gripper": {
              "min": [
                0.10266940295696259
              ],
              "max": [
                99.6919937133789
              ],
              "mean": [
                28.811176300048828
              ],
              "std": [
                24.552345275878906
              ],
              "count": [
                156826
              ],
              "q01": [
                0.24298304319381714
              ],
              "q10": [
                0.2496366649866104
              ],
              "q50": [
                30.739131927490234
              ],
              "q90": [
                61.597652435302734
              ],
              "q99": [
                68.07320404052734
              ]
            }
          },
          "relative_action": {
            "single_arm": {
              "min": [
                [
                  -79.96907806396484,
                  -129.08758544921875,
                  -127.38981628417969,
                  -68.11688995361328,
                  -24.517704010009766
                ],
                [
                  -79.96907806396484,
                  -128.66041564941406,
                  -127.38981628417969,
                  -67.8722915649414,
                  -24.71306610107422
                ],
                [
                  -79.96907806396484,
                  -127.54977416992188,
                  -127.38981628417969,
                  -66.83478546142578,
                  -24.761905670166016
                ],
                [
                  -79.75184631347656,
                  -125.75566864013672,
                  -127.38981628417969,
                  -66.82665252685547,
                  -24.85958480834961
                ],
                [
                  -79.67657470703125,
                  -123.5324935913086,
                  -127.38981628417969,
                  -66.82665252685547,
                  -24.85958480834961
                ],
                [
                  -79.67657470703125,
                  -122.76564025878906,
                  -127.38981628417969,
                  -66.74684143066406,
                  -24.761905670166016
                ],
                [
                  -79.67657470703125,
                  -122.76564025878906,
                  -127.38981628417969,
                  -66.7451171875,
                  -24.664226531982422
                ],
                [
                  -79.67657470703125,
                  -122.76564025878906,
                  -127.38981628417969,
                  -66.6653060913086,
                  -24.664226531982422
                ],
                [
                  -79.67657470703125,
                  -122.42390441894531,
                  -127.38981628417969,
                  -66.96951293945312,
                  -24.85958480834961
                ],
                [
                  -79.67657470703125,
                  -121.91130065917969,
                  -127.38981628417969,
                  -68.60017395019531,
                  -24.957263946533203
                ],
                [
                  -79.75112915039062,
                  -121.22783660888672,
                  -127.38981628417969,
                  -69.47806549072266,
                  -25.006103515625
                ],
                [
                  -79.89595031738281,
                  -119.94523620605469,
                  -127.38981628417969,
                  -69.55786895751953,
                  -25.006103515625
                ],
                [
                  -79.89595031738281,
                  -120.11712646484375,
                  -127.38981628417969,
                  -69.55786895751953,
                  -25.006103515625
                ],
                [
                  -79.89595031738281,
                  -120.88602447509766,
                  -127.38981628417969,
                  -69.55786895751953,
                  -25.006103515625
                ],
                [
                  -79.89595031738281,
                  -120.9715347290039,
                  -127.38981628417969,
                  -69.73896026611328,
                  -24.957263946533203
                ],
                [
                  -79.89595031738281,
                  -121.05696868896484,
                  -127.38981628417969,
                  -71.95140838623047,
                  -24.957263946533203
                ],
                [
                  -79.89595031738281,
                  -122.6802749633789,
                  -127.38981628417969,
                  -74.15279388427734,
                  -24.957263946533203
                ],
                [
                  -79.89595031738281,
                  -125.49958038330078,
                  -127.38981628417969,
                  -75.86498260498047,
                  -24.908424377441406
                ],
                [
                  -79.89595031738281,
                  -126.6956558227539,
                  -127.38981628417969,
                  -77.16950988769531,
                  -24.810745239257812
                ],
                [
                  -79.89595031738281,
                  -129.85435485839844,
                  -127.38981628417969,
                  -78.36663818359375,
                  -24.761905670166016
                ],
                [
                  -79.82283020019531,
                  -132.4195556640625,
                  -127.38981628417969,
                  -78.76567840576172,
                  -24.71306610107422
                ],
                [
                  -79.6055908203125,
                  -135.40980529785156,
                  -127.02601623535156,
                  -79.10043334960938,
                  -24.61538314819336
                ],
                [
                  -79.38621520996094,
                  -138.2291259765625,
                  -126.29840850830078,
                  -79.50809478759766,
                  -24.46886444091797
                ],
                [
                  -79.09370422363281,
                  -140.27952575683594,
                  -126.29840850830078,
                  -79.90713500976562,
                  -24.322345733642578
                ],
                [
                  -78.94245147705078,
                  -141.30471801757812,
                  -125.57080841064453,
                  -79.90713500976562,
                  -24.22466278076172
                ],
                [
                  -79.23209381103516,
                  -141.56103515625,
                  -123.70307922363281,
                  -79.90713500976562,
                  -24.126983642578125
                ],
                [
                  -79.52174377441406,
                  -141.64645385742188,
                  -124.4306869506836,
                  -79.90713500976562,
                  -23.980464935302734
                ],
                [
                  -79.81138610839844,
                  -141.64645385742188,
                  -125.97684478759766,
                  -79.98694610595703,
                  -23.833942413330078
                ],
                [
                  -80.10102844238281,
                  -141.64645385742188,
                  -127.43205261230469,
                  -79.98694610595703,
                  -23.589744567871094
                ],
                [
                  -80.3204116821289,
                  -141.64645385742188,
                  -128.15965270996094,
                  -79.98694610595703,
                  -23.4920654296875
                ],
                [
                  -80.53764343261719,
                  -141.64645385742188,
                  -128.4388427734375,
                  -79.98694610595703,
                  -23.39438247680664
                ],
                [
                  -80.68389892578125,
                  -141.64645385742188,
                  -128.52980041503906,
                  -79.98694610595703,
                  -23.345542907714844
                ],
                [
                  -80.75701904296875,
                  -141.64645385742188,
                  -128.52980041503906,
                  -79.98694610595703,
                  -23.24786376953125
                ],
                [
                  -80.82943725585938,
                  -141.64645385742188,
                  -128.62498474121094,
                  -79.98694610595703,
                  -23.150184631347656
                ],
                [
                  -80.82943725585938,
                  -141.64645385742188,
                  -128.7159423828125,
                  -79.98694610595703,
                  -23.101341247558594
                ],
                [
                  -80.75630950927734,
                  -141.64645385742188,
                  -128.7159423828125,
                  -79.98694610595703,
                  -23.003662109375
                ],
                [
                  -80.61005401611328,
                  -141.64645385742188,
                  -128.7159423828125,
                  -79.98694610595703,
                  -22.954822540283203
                ],
                [
                  -80.392822265625,
                  -141.64645385742188,
                  -128.7159423828125,
                  -79.98694610595703,
                  -22.808303833007812
                ],
                [
                  -80.02719116210938,
                  -141.64645385742188,
                  -128.7159423828125,
                  -79.98694610595703,
                  -22.710622787475586
                ],
                [
                  -79.66156005859375,
                  -141.64645385742188,
                  -128.7159423828125,
                  -79.98694610595703,
                  -22.661781311035156
                ]
              ],
              "max": [
                [
                  62.09855270385742,
                  130.486328125,
                  109.95602416992188,
                  80.72647094726562,
                  25.88522720336914
                ],
                [
                  62.09855270385742,
                  130.486328125,
                  107.86416625976562,
                  80.72647094726562,
                  26.520145416259766
                ],
                [
                  62.09855270385742,
                  130.486328125,
                  105.25830841064453,
                  80.72647094726562,
                  26.910865783691406
                ],
                [
                  62.09855270385742,
                  130.486328125,
                  104.52008056640625,
                  80.72647094726562,
                  27.155067443847656
                ],
                [
                  62.09855270385742,
                  130.486328125,
                  104.52008056640625,
                  80.72647094726562,
                  27.350425720214844
                ],
                [
                  62.09855270385742,
                  130.486328125,
                  104.52008056640625,
                  80.72647094726562,
                  27.64346694946289
                ],
                [
                  61.881317138671875,
                  130.486328125,
                  104.42912292480469,
                  80.72647094726562,
                  28.083026885986328
                ],
                [
                  61.66193771362305,
                  130.486328125,
                  103.8834228515625,
                  80.72647094726562,
                  28.327228546142578
                ],
                [
                  61.372291564941406,
                  130.486328125,
                  103.33772277832031,
                  80.72647094726562,
                  28.522586822509766
                ],
                [
                  61.036895751953125,
                  130.486328125,
                  101.8486557006836,
                  80.72647094726562,
                  28.766788482666016
                ],
                [
                  60.96448516845703,
                  130.486328125,
                  99.52198791503906,
                  80.56685638427734,
                  28.86446762084961
                ],
                [
                  60.96448516845703,
                  130.3153076171875,
                  97.60576629638672,
                  80.32743072509766,
                  28.86446762084961
                ],
                [
                  60.96448516845703,
                  130.22979736328125,
                  100.22449493408203,
                  79.83306121826172,
                  28.86446762084961
                ],
                [
                  60.96448516845703,
                  130.0587921142578,
                  103.40776062011719,
                  79.66999053955078,
                  28.86446762084961
                ],
                [
                  60.96448516845703,
                  129.71676635742188,
                  106.40912628173828,
                  79.4305648803711,
                  28.86446762084961
                ],
                [
                  60.96448516845703,
                  129.37474060058594,
                  108.6828842163086,
                  78.31324768066406,
                  29.059829711914062
                ],
                [
                  60.96448516845703,
                  128.77618408203125,
                  110.8656997680664,
                  76.76412963867188,
                  29.157508850097656
                ],
                [
                  61.662017822265625,
                  128.34866333007812,
                  113.04850769042969,
                  76.36433410644531,
                  29.157508850097656
                ],
                [
                  62.241310119628906,
                  128.17764282226562,
                  115.322265625,
                  76.4921646118164,
                  29.157508850097656
                ],
                [
                  62.75318908691406,
                  127.83561706542969,
                  117.14128112792969,
                  76.98136138916016,
                  29.25518798828125
                ],
                [
                  62.970428466796875,
                  127.23707580566406,
                  118.41458129882812,
                  77.79545593261719,
                  29.401710510253906
                ],
                [
                  63.26007080078125,
                  126.21099090576172,
                  119.32408905029297,
                  78.67334747314453,
                  29.450550079345703
                ],
                [
                  63.26007080078125,
                  124.58636474609375,
                  120.32453918457031,
                  79.71085357666016,
                  29.450550079345703
                ],
                [
                  63.26007080078125,
                  125.27159118652344,
                  121.41594696044922,
                  80.10989379882812,
                  29.548229217529297
                ],
                [
                  63.26007080078125,
                  127.23824310302734,
                  122.59830474853516,
                  80.3544921875,
                  29.743587493896484
                ],
                [
                  63.332481384277344,
                  129.2904052734375,
                  123.50780487060547,
                  80.3544921875,
                  29.743587493896484
                ],
                [
                  65.25062561035156,
                  131.34255981445312,
                  124.41731262207031,
                  80.3544921875,
                  29.841270446777344
                ],
                [
                  67.37128448486328,
                  133.6512451171875,
                  125.14491271972656,
                  80.3544921875,
                  29.938949584960938
                ],
                [
                  69.1091537475586,
                  135.9599151611328,
                  125.79637908935547,
                  81.52848815917969,
                  30.03662872314453
                ],
                [
                  70.71793365478516,
                  138.0975799560547,
                  127.33618927001953,
                  83.60350799560547,
                  30.03662872314453
                ],
                [
                  71.88794708251953,
                  140.40626525878906,
                  128.1547393798828,
                  85.27948760986328,
                  30.13431167602539
                ],
                [
                  72.91171264648438,
                  142.11639404296875,
                  128.34088134765625,
                  86.95545959472656,
                  30.231990814208984
                ],
                [
                  73.92547607421875,
                  143.3979034423828,
                  128.34088134765625,
                  88.42304992675781,
                  30.329669952392578
                ],
                [
                  74.5771713256836,
                  144.59498596191406,
                  128.34088134765625,
                  89.69998931884766,
                  30.476192474365234
                ],
                [
                  75.16218566894531,
                  145.5355682373047,
                  128.43394470214844,
                  90.10765838623047,
                  30.72039031982422
                ],
                [
                  75.59664916992188,
                  146.13360595703125,
                  128.43394470214844,
                  90.42689514160156,
                  30.915752410888672
                ],
                [
                  75.7414779663086,
                  146.64663696289062,
                  128.43394470214844,
                  90.42689514160156,
                  30.96459197998047
                ],
                [
                  75.7414779663086,
                  147.15968322753906,
                  128.43394470214844,
                  90.42689514160156,
                  31.159950256347656
                ],
                [
                  75.7414779663086,
                  147.58721923828125,
                  128.43394470214844,
                  90.42689514160156,
                  31.208789825439453
                ],
                [
                  75.7414779663086,
                  147.84373474121094,
                  128.43394470214844,
                  90.42689514160156,
                  31.25762939453125
                ]
              ],
              "mean": [
                [
                  -0.2480279952287674,
                  -2.7419347763061523,
                  -3.3524889945983887,
                  -0.7991222739219666,
                  0.03920773044228554
                ],
                [
                  -0.24828357994556427,
                  -2.7060487270355225,
                  -3.382002592086792,
                  -0.7813562750816345,
                  0.027383212000131607
                ],
                [
                  -0.24820435047149658,
                  -2.675797700881958,
                  -3.4053657054901123,
                  -0.7640600800514221,
                  0.0156540609896183
                ],
                [
                  -0.24786850810050964,
                  -2.650879383087158,
                  -3.422788381576538,
                  -0.7472394704818726,
                  0.0040086498484015465
                ],
                [
                  -0.2473401576280594,
                  -2.6309359073638916,
                  -3.4346063137054443,
                  -0.7308554649353027,
                  -0.007538979407399893
                ],
                [
                  -0.24665790796279907,
                  -2.6155667304992676,
                  -3.441187620162964,
                  -0.7149110436439514,
                  -0.018964726477861404
                ],
                [
                  -0.245810404419899,
                  -2.604233980178833,
                  -3.442990303039551,
                  -0.6994861960411072,
                  -0.03024841845035553
                ],
                [
                  -0.24478261172771454,
                  -2.5964512825012207,
                  -3.440500020980835,
                  -0.684806764125824,
                  -0.04134642705321312
                ],
                [
                  -0.24347947537899017,
                  -2.5917792320251465,
                  -3.4341518878936768,
                  -0.6707047820091248,
                  -0.05227799713611603
                ],
                [
                  -0.24188967049121857,
                  -2.589829206466675,
                  -3.424225330352783,
                  -0.6573285460472107,
                  -0.06303074955940247
                ],
                [
                  -0.23999761044979095,
                  -2.5902156829833984,
                  -3.411161422729492,
                  -0.6446186900138855,
                  -0.07360026240348816
                ],
                [
                  -0.2377469837665558,
                  -2.592625141143799,
                  -3.395346164703369,
                  -0.6325579285621643,
                  -0.0839952602982521
                ],
                [
                  -0.2351604849100113,
                  -2.596822500228882,
                  -3.3772077560424805,
                  -0.6211063861846924,
                  -0.09422123432159424
                ],
                [
                  -0.2322646826505661,
                  -2.602628469467163,
                  -3.3571064472198486,
                  -0.6101244688034058,
                  -0.10421327501535416
                ],
                [
                  -0.22910282015800476,
                  -2.6095991134643555,
                  -3.335397958755493,
                  -0.5998283624649048,
                  -0.11402986943721771
                ],
                [
                  -0.2256828099489212,
                  -2.6175146102905273,
                  -3.3121867179870605,
                  -0.5903461575508118,
                  -0.12368805706501007
                ],
                [
                  -0.2220316380262375,
                  -2.6261513233184814,
                  -3.2876131534576416,
                  -0.5819788575172424,
                  -0.1331874579191208
                ],
                [
                  -0.21815253794193268,
                  -2.6354293823242188,
                  -3.2615623474121094,
                  -0.5748765468597412,
                  -0.14251339435577393
                ],
                [
                  -0.21407130360603333,
                  -2.6453583240509033,
                  -3.2338345050811768,
                  -0.5695287585258484,
                  -0.15164734423160553
                ],
                [
                  -0.2097768485546112,
                  -2.655895709991455,
                  -3.2040417194366455,
                  -0.56639164686203,
                  -0.1605343073606491
                ],
                [
                  -0.2052653580904007,
                  -2.6670963764190674,
                  -3.171692371368408,
                  -0.5662254095077515,
                  -0.1691412478685379
                ],
                [
                  -0.20051579177379608,
                  -2.6790130138397217,
                  -3.1363470554351807,
                  -0.569634199142456,
                  -0.17730771005153656
                ],
                [
                  -0.19550758600234985,
                  -2.691833019256592,
                  -3.0974960327148438,
                  -0.5771840214729309,
                  -0.18503932654857635
                ],
                [
                  -0.19023512303829193,
                  -2.70566725730896,
                  -3.054702043533325,
                  -0.5893422961235046,
                  -0.19239720702171326
                ],
                [
                  -0.1846056431531906,
                  -2.7207653522491455,
                  -3.0074551105499268,
                  -0.6066070199012756,
                  -0.19930016994476318
                ],
                [
                  -0.17846854031085968,
                  -2.737478017807007,
                  -2.955141544342041,
                  -0.6296460032463074,
                  -0.2057228535413742
                ],
                [
                  -0.17171630263328552,
                  -2.756204843521118,
                  -2.8974010944366455,
                  -0.6587141156196594,
                  -0.21166706085205078
                ],
                [
                  -0.16429845988750458,
                  -2.7771596908569336,
                  -2.8339335918426514,
                  -0.6941319108009338,
                  -0.2170473039150238
                ],
                [
                  -0.15617741644382477,
                  -2.8004696369171143,
                  -2.764744758605957,
                  -0.7357549071311951,
                  -0.22183912992477417
                ],
                [
                  -0.14733806252479553,
                  -2.8261587619781494,
                  -2.689958095550537,
                  -0.7838114500045776,
                  -0.2260468602180481
                ],
                [
                  -0.13771192729473114,
                  -2.8541622161865234,
                  -2.609802007675171,
                  -0.838202714920044,
                  -0.22959984838962555
                ],
                [
                  -0.1273476928472519,
                  -2.8843157291412354,
                  -2.5246307849884033,
                  -0.8987058401107788,
                  -0.23246391117572784
                ],
                [
                  -0.11635827273130417,
                  -2.9165537357330322,
                  -2.4348690509796143,
                  -0.9649823307991028,
                  -0.234689399600029
                ],
                [
                  -0.10475011169910431,
                  -2.9508159160614014,
                  -2.3410372734069824,
                  -1.036637306213379,
                  -0.23622380197048187
                ],
                [
                  -0.0924890786409378,
                  -2.9871020317077637,
                  -2.243746757507324,
                  -1.1131591796875,
                  -0.2370028793811798
                ],
                [
                  -0.07952233403921127,
                  -3.0253875255584717,
                  -2.143583297729492,
                  -1.1941461563110352,
                  -0.23695634305477142
                ],
                [
                  -0.06581129133701324,
                  -3.0655715465545654,
                  -2.0411813259124756,
                  -1.2790173292160034,
                  -0.23601168394088745
                ],
                [
                  -0.05135130137205124,
                  -3.1076507568359375,
                  -1.9371669292449951,
                  -1.367161750793457,
                  -0.23410636186599731
                ],
                [
                  -0.03610628470778465,
                  -3.151573419570923,
                  -1.832084059715271,
                  -1.457966923713684,
                  -0.2312517911195755
                ],
                [
                  -0.020021658390760422,
                  -3.197354793548584,
                  -1.726423740386963,
                  -1.5509564876556396,
                  -0.22742626070976257
                ]
              ],
              "std": [
                [
                  12.523309707641602,
                  26.198678970336914,
                  19.440494537353516,
                  9.892958641052246,
                  2.454948902130127
                ],
                [
                  12.63851261138916,
                  26.620637893676758,
                  19.92444610595703,
                  10.311023712158203,
                  2.5045416355133057
                ],
                [
                  12.778950691223145,
                  27.159191131591797,
                  20.48068618774414,
                  10.797271728515625,
                  2.5617685317993164
                ],
                [
                  12.940671920776367,
                  27.798250198364258,
                  21.095060348510742,
                  11.330606460571289,
                  2.6249916553497314
                ],
                [
                  13.119750022888184,
                  28.52178192138672,
                  21.75475311279297,
                  11.89361572265625,
                  2.6929678916931152
                ],
                [
                  13.312516212463379,
                  29.314878463745117,
                  22.449243545532227,
                  12.47295093536377,
                  2.7645204067230225
                ],
                [
                  13.515522956848145,
                  30.16312026977539,
                  23.169620513916016,
                  13.058917045593262,
                  2.8387250900268555
                ],
                [
                  13.725724220275879,
                  31.05389976501465,
                  23.90876579284668,
                  13.64404010772705,
                  2.9148037433624268
                ],
                [
                  13.940686225891113,
                  31.976591110229492,
                  24.66077423095703,
                  14.223084449768066,
                  2.991814136505127
                ],
                [
                  14.158196449279785,
                  32.92180252075195,
                  25.42091178894043,
                  14.792081832885742,
                  3.069106340408325
                ],
                [
                  14.376664161682129,
                  33.88142776489258,
                  26.18518829345703,
                  15.348422050476074,
                  3.1466121673583984
                ],
                [
                  14.594854354858398,
                  34.84903335571289,
                  26.950061798095703,
                  15.88959789276123,
                  3.2236437797546387
                ],
                [
                  14.811824798583984,
                  35.81850051879883,
                  27.71249008178711,
                  16.41408348083496,
                  3.3003785610198975
                ],
                [
                  15.027024269104004,
                  36.785343170166016,
                  28.470012664794922,
                  16.920433044433594,
                  3.376204013824463
                ],
                [
                  15.239936828613281,
                  37.74504470825195,
                  29.22041130065918,
                  17.407705307006836,
                  3.4512133598327637
                ],
                [
                  15.450337409973145,
                  38.69437026977539,
                  29.96166229248047,
                  17.875247955322266,
                  3.5252625942230225
                ],
                [
                  15.658147811889648,
                  39.62971878051758,
                  30.69199562072754,
                  18.322803497314453,
                  3.5978360176086426
                ],
                [
                  15.863191604614258,
                  40.549652099609375,
                  31.40985107421875,
                  18.749755859375,
                  3.6695168018341064
                ],
                [
                  16.06545066833496,
                  41.45163345336914,
                  32.11482238769531,
                  19.156208038330078,
                  3.7397055625915527
                ],
                [
                  16.265085220336914,
                  42.33439254760742,
                  32.80498504638672,
                  19.542253494262695,
                  3.8083574771881104
                ],
                [
                  16.461830139160156,
                  43.196781158447266,
                  33.479949951171875,
                  19.907817840576172,
                  3.875988245010376
                ],
                [
                  16.655872344970703,
                  44.037967681884766,
                  34.13903045654297,
                  20.25296401977539,
                  3.9421260356903076
                ],
                [
                  16.84712791442871,
                  44.85651779174805,
                  34.780723571777344,
                  20.577856063842773,
                  4.0066680908203125
                ],
                [
                  17.03525161743164,
                  45.65177536010742,
                  35.405494689941406,
                  20.8825626373291,
                  4.069756031036377
                ],
                [
                  17.22032928466797,
                  46.42348861694336,
                  36.01217269897461,
                  21.16735076904297,
                  4.131313800811768
                ],
                [
                  17.402103424072266,
                  47.170413970947266,
                  36.5993537902832,
                  21.432453155517578,
                  4.191280364990234
                ],
                [
                  17.580251693725586,
                  47.89285659790039,
                  37.16750717163086,
                  21.678041458129883,
                  4.2495527267456055
                ],
                [
                  17.754711151123047,
                  48.589935302734375,
                  37.71524429321289,
                  21.90468978881836,
                  4.3061017990112305
                ],
                [
                  17.92538833618164,
                  49.26089096069336,
                  38.242095947265625,
                  22.112531661987305,
                  4.361100673675537
                ],
                [
                  18.092182159423828,
                  49.90645217895508,
                  38.7481803894043,
                  22.30219841003418,
                  4.414605140686035
                ],
                [
                  18.254467010498047,
                  50.5256462097168,
                  39.231903076171875,
                  22.474437713623047,
                  4.466225624084473
                ],
                [
                  18.412540435791016,
                  51.1180534362793,
                  39.69417953491211,
                  22.629413604736328,
                  4.516298770904541
                ],
                [
                  18.566322326660156,
                  51.685325622558594,
                  40.134918212890625,
                  22.768678665161133,
                  4.564795017242432
                ],
                [
                  18.71568489074707,
                  52.22590255737305,
                  40.55431365966797,
                  22.892915725708008,
                  4.611443519592285
                ],
                [
                  18.860858917236328,
                  52.74073028564453,
                  40.95201873779297,
                  23.002906799316406,
                  4.656485080718994
                ],
                [
                  19.002037048339844,
                  53.230228424072266,
                  41.328956604003906,
                  23.099525451660156,
                  4.699793815612793
                ],
                [
                  19.139450073242188,
                  53.693603515625,
                  41.68574905395508,
                  23.18302345275879,
                  4.741372108459473
                ],
                [
                  19.272947311401367,
                  54.13260269165039,
                  42.02265930175781,
                  23.255855560302734,
                  4.781333923339844
                ],
                [
                  19.40285301208496,
                  54.54689407348633,
                  42.34056854248047,
                  23.317243576049805,
                  4.819399356842041
                ],
                [
                  19.529294967651367,
                  54.93730545043945,
                  42.63959884643555,
                  23.369239807128906,
                  4.855813503265381
                ]
              ],
              "q01": [
                [
                  -53.56352233886719,
                  -90.3857421875,
                  -75.39944458007812,
                  -34.50358200073242,
                  -8.058608055114746
                ],
                [
                  -53.649383544921875,
                  -89.95914459228516,
                  -75.51883697509766,
                  -34.207374572753906,
                  -8.058608055114746
                ],
                [
                  -53.68504333496094,
                  -89.61737823486328,
                  -75.79845428466797,
                  -34.02019119262695,
                  -8.10744857788086
                ],
                [
                  -53.75402069091797,
                  -89.27545928955078,
                  -75.99520111083984,
                  -33.85831832885742,
                  -8.156288146972656
                ],
                [
                  -53.83572769165039,
                  -88.8485107421875,
                  -75.99858856201172,
                  -33.9879264831543,
                  -8.302807807922363
                ],
                [
                  -53.866188049316406,
                  -88.25039672851562,
                  -75.91948699951172,
                  -34.21672058105469,
                  -8.400487899780273
                ],
                [
                  -53.891422271728516,
                  -87.96996307373047,
                  -75.72700500488281,
                  -34.85498809814453,
                  -8.4981689453125
                ],
                [
                  -53.94450759887695,
                  -87.82330322265625,
                  -75.67279815673828,
                  -35.496707916259766,
                  -8.644689559936523
                ],
                [
                  -54.0125846862793,
                  -87.56700897216797,
                  -75.72700500488281,
                  -36.103240966796875,
                  -8.840048789978027
                ],
                [
                  -54.01603317260742,
                  -87.56693267822266,
                  -75.82345581054688,
                  -36.96829605102539,
                  -8.98656940460205
                ],
                [
                  -54.01594543457031,
                  -87.89227294921875,
                  -75.8394775390625,
                  -37.66404724121094,
                  -9.181928634643555
                ],
                [
                  -53.96641159057617,
                  -88.64519500732422,
                  -76.0750732421875,
                  -38.50730895996094,
                  -9.377288818359375
                ],
                [
                  -53.9970588684082,
                  -89.78820037841797,
                  -76.63947296142578,
                  -39.48186111450195,
                  -9.572649955749512
                ],
                [
                  -53.94410705566406,
                  -91.48429870605469,
                  -77.21255493164062,
                  -40.476905822753906,
                  -9.816849708557129
                ],
                [
                  -53.972068786621094,
                  -93.20458221435547,
                  -77.63676452636719,
                  -41.29551315307617,
                  -10.01220989227295
                ],
                [
                  -53.90763473510742,
                  -95.33061981201172,
                  -78.19367218017578,
                  -42.05397033691406,
                  -10.256410598754883
                ],
                [
                  -53.85411071777344,
                  -97.28067779541016,
                  -78.796630859375,
                  -42.82343292236328,
                  -10.451770782470703
                ],
                [
                  -53.79520797729492,
                  -99.21984100341797,
                  -79.3851089477539,
                  -43.48872375488281,
                  -10.647130966186523
                ],
                [
                  -53.730159759521484,
                  -101.3092269897461,
                  -80.09336853027344,
                  -44.08397674560547,
                  -10.89133071899414
                ],
                [
                  -53.708213806152344,
                  -103.61226654052734,
                  -80.45516204833984,
                  -44.84046173095703,
                  -11.086690902709961
                ],
                [
                  -53.6441535949707,
                  -105.59346008300781,
                  -80.87468719482422,
                  -45.52075958251953,
                  -11.330890655517578
                ],
                [
                  -53.53151321411133,
                  -107.6167221069336,
                  -81.39321899414062,
                  -46.145118713378906,
                  -11.477412223815918
                ],
                [
                  -53.423057556152344,
                  -109.26713562011719,
                  -82.06027221679688,
                  -46.728031158447266,
                  -11.721611976623535
                ],
                [
                  -53.35301971435547,
                  -110.89048767089844,
                  -82.5490493774414,
                  -47.346927642822266,
                  -11.916972160339355
                ],
                [
                  -53.31785202026367,
                  -112.50981140136719,
                  -82.95454406738281,
                  -47.812294006347656,
                  -12.11233139038086
                ],
                [
                  -53.234405517578125,
                  -113.62413787841797,
                  -83.32295227050781,
                  -48.14411926269531,
                  -12.258852005004883
                ],
                [
                  -53.16374206542969,
                  -114.82035827636719,
                  -83.85399627685547,
                  -48.592220306396484,
                  -12.454212188720703
                ],
                [
                  -53.05834197998047,
                  -115.91703033447266,
                  -84.25366973876953,
                  -49.01808166503906,
                  -12.600732803344727
                ],
                [
                  -53.00876998901367,
                  -116.91393280029297,
                  -84.6379165649414,
                  -49.33757781982422,
                  -12.727715492248535
                ],
                [
                  -52.87065887451172,
                  -117.89366149902344,
                  -84.89257049560547,
                  -49.56781768798828,
                  -12.844932556152344
                ],
                [
                  -52.67706298828125,
                  -118.66482543945312,
                  -85.04425048828125,
                  -49.872894287109375,
                  -12.94261360168457
                ],
                [
                  -52.56226348876953,
                  -119.42774200439453,
                  -85.44142150878906,
                  -50.229915618896484,
                  -13.04029369354248
                ],
                [
                  -52.5491943359375,
                  -120.11427307128906,
                  -85.82745361328125,
                  -50.43930435180664,
                  -13.13797378540039
                ],
                [
                  -52.5000114440918,
                  -120.71355438232422,
                  -86.01155090332031,
                  -50.59299850463867,
                  -13.2356538772583
                ],
                [
                  -52.4413948059082,
                  -121.05693817138672,
                  -86.30403900146484,
                  -50.724369049072266,
                  -13.333333015441895
                ],
                [
                  -52.41292190551758,
                  -121.39867401123047,
                  -86.52961730957031,
                  -51.013038635253906,
                  -13.382173538208008
                ],
                [
                  -52.32755661010742,
                  -121.74043273925781,
                  -86.80630493164062,
                  -51.1689338684082,
                  -13.431014060974121
                ],
                [
                  -52.1900749206543,
                  -122.24735260009766,
                  -86.91151428222656,
                  -51.27558517456055,
                  -13.528693199157715
                ],
                [
                  -52.120235443115234,
                  -122.59466552734375,
                  -87.19551849365234,
                  -51.42449188232422,
                  -13.528694152832031
                ],
                [
                  -52.049285888671875,
                  -122.85099792480469,
                  -87.3846435546875,
                  -51.56475830078125,
                  -13.577533721923828
                ]
              ],
              "q99": [
                [
                  40.78553771972656,
                  96.36932373046875,
                  55.554725646972656,
                  34.73883819580078,
                  8.69352912902832
                ],
                [
                  40.63613510131836,
                  96.29335021972656,
                  55.376708984375,
                  34.960601806640625,
                  8.742368698120117
                ],
                [
                  40.511817932128906,
                  96.07801818847656,
                  55.114524841308594,
                  35.821929931640625,
                  8.79120922088623
                ],
                [
                  40.3049201965332,
                  95.94187927246094,
                  54.8671760559082,
                  37.108821868896484,
                  8.840048789978027
                ],
                [
                  40.067832946777344,
                  95.86203002929688,
                  54.76836013793945,
                  38.67573165893555,
                  8.88888931274414
                ],
                [
                  39.91988754272461,
                  95.65454864501953,
                  54.808021545410156,
                  40.56898498535156,
                  8.986568450927734
                ],
                [
                  39.72737121582031,
                  95.3434066772461,
                  55.04282760620117,
                  42.184776306152344,
                  9.084249496459961
                ],
                [
                  39.6203498840332,
                  94.67123413085938,
                  55.81919860839844,
                  43.5495719909668,
                  9.181928634643555
                ],
                [
                  39.56452178955078,
                  94.14612579345703,
                  57.04352569580078,
                  44.954010009765625,
                  9.230769157409668
                ],
                [
                  39.567901611328125,
                  93.47179412841797,
                  58.62489700317383,
                  46.322784423828125,
                  9.279609680175781
                ],
                [
                  39.538238525390625,
                  92.7434310913086,
                  60.529945373535156,
                  47.50263977050781,
                  9.35744857788086
                ],
                [
                  39.585182189941406,
                  91.83734130859375,
                  62.712158203125,
                  48.49873733520508,
                  9.426129341125488
                ],
                [
                  39.60993194580078,
                  90.48318481445312,
                  64.68336486816406,
                  49.47874450683594,
                  9.523809432983398
                ],
                [
                  39.59526062011719,
                  89.52864837646484,
                  66.72645568847656,
                  50.33366012573242,
                  9.621489524841309
                ],
                [
                  39.6494255065918,
                  88.7594223022461,
                  68.96072387695312,
                  50.97520446777344,
                  9.670330047607422
                ],
                [
                  39.737648010253906,
                  88.12622833251953,
                  71.17244720458984,
                  51.7712287902832,
                  9.719169616699219
                ],
                [
                  39.81620407104492,
                  87.84291076660156,
                  73.30193328857422,
                  52.53538513183594,
                  9.865690231323242
                ],
                [
                  39.932373046875,
                  87.562255859375,
                  75.17166900634766,
                  53.26504135131836,
                  9.943528175354004
                ],
                [
                  40.05722427368164,
                  87.56298065185547,
                  77.18318176269531,
                  53.89257049560547,
                  10.01220989227295
                ],
                [
                  40.203182220458984,
                  87.8282241821289,
                  79.02963256835938,
                  54.384456634521484,
                  10.061050415039062
                ],
                [
                  40.318634033203125,
                  88.17330169677734,
                  80.591552734375,
                  54.88232421875,
                  10.158729553222656
                ],
                [
                  40.427032470703125,
                  88.68653869628906,
                  82.35874938964844,
                  55.282264709472656,
                  10.20757007598877
                ],
                [
                  40.536495208740234,
                  89.28292846679688,
                  83.90538787841797,
                  55.863922119140625,
                  10.30525016784668
                ],
                [
                  40.613975524902344,
                  89.63966369628906,
                  85.35098266601562,
                  56.34652328491211,
                  10.402929306030273
                ],
                [
                  40.78196334838867,
                  90.13888549804688,
                  86.92456817626953,
                  56.82646942138672,
                  10.451770782470703
                ],
                [
                  40.98088073730469,
                  90.66720581054688,
                  88.2317123413086,
                  57.265708923339844,
                  10.5006103515625
                ],
                [
                  41.136844635009766,
                  91.01268005371094,
                  89.53001403808594,
                  57.62584686279297,
                  10.549450874328613
                ],
                [
                  41.23129653930664,
                  91.4228286743164,
                  90.55118560791016,
                  57.985694885253906,
                  10.598291397094727
                ],
                [
                  41.37554931640625,
                  91.6998291015625,
                  91.39346313476562,
                  58.28486251831055,
                  10.69597053527832
                ],
                [
                  41.53891372680664,
                  92.07189178466797,
                  92.04492950439453,
                  58.588050842285156,
                  10.744810104370117
                ],
                [
                  41.637451171875,
                  92.20348358154297,
                  92.69639587402344,
                  58.919273376464844,
                  10.79365062713623
                ],
                [
                  41.79805374145508,
                  92.53758239746094,
                  93.23206329345703,
                  59.1071662902832,
                  10.842491149902344
                ],
                [
                  41.9298210144043,
                  92.7598876953125,
                  93.71800994873047,
                  59.33576202392578,
                  10.89133071899414
                ],
                [
                  42.05696105957031,
                  92.93001556396484,
                  94.18545532226562,
                  59.55027389526367,
                  10.940170288085938
                ],
                [
                  42.196224212646484,
                  93.1294174194336,
                  94.75369262695312,
                  59.67823028564453,
                  10.98901081085205
                ],
                [
                  42.34233856201172,
                  93.32662963867188,
                  95.54010009765625,
                  59.88915252685547,
                  11.037850379943848
                ],
                [
                  42.477046966552734,
                  93.4009780883789,
                  96.1419677734375,
                  59.94095230102539,
                  11.037851333618164
                ],
                [
                  42.68895721435547,
                  93.46446228027344,
                  96.41905212402344,
                  60.114681243896484,
                  11.086690902709961
                ],
                [
                  42.90262222290039,
                  93.57405090332031,
                  97.17198944091797,
                  60.16971206665039,
                  11.135530471801758
                ],
                [
                  43.141971588134766,
                  93.48040771484375,
                  97.82144165039062,
                  60.242698669433594,
                  11.135531425476074
                ]
              ],
              "count": [
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241,
                137241
              ]
            }
          }
        },
        "modality_config": {
          "state": {
            "modality_keys": [
              "single_arm",
              "gripper"
            ]
          },
          "action": {
            "modality_keys": [
              "single_arm",
              "gripper"
            ],
            "action_configs": [
              {
                "rep": "RELATIVE",
                "type": "NON_EEF",
                "format": "DEFAULT",
                "state_key": null
              },
              {
                "rep": "ABSOLUTE",
                "type": "NON_EEF",
                "format": "DEFAULT",
                "state_key": null
              }
            ],
            "delta_indices": [
              0,
              1,
              2,
              3,
              4,
              5,
              6,
              7,
              8,
              9,
              10,
              11,
              12,
              13,
              14,
              15,
              16,
              17,
              18,
              19,
              20,
              21,
              22,
              23,
              24,
              25,
              26,
              27,
              28,
              29,
              30,
              31,
              32,
              33,
              34,
              35,
              36,
              37,
              38,
              39
            ]
          },
          "video": {
            "modality_keys": [
              "base",
              "wrist"
            ],
            "delta_indices": [
              0
            ]
          }
        }
      },
      "state_file": "policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors"
    },
    {
      "registry_name": "groot_n1_7_vlm_encode_v1",
      "config": {
        "model_name": "nvidia/Cosmos-Reason2-2B",
        "image_crop_size": [
          230,
          230
        ],
        "image_target_size": [
          256,
          256
        ],
        "shortest_image_edge": null,
        "crop_fraction": null,
        "use_albumentations": false,
        "letter_box_transform": false,
        "device": "cuda"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}