{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "tokenizer_processor",
      "config": {
        "max_length": 77,
        "task_key": "task",
        "padding_side": "right",
        "padding": "max_length",
        "truncation": true,
        "tokenizer_name": "openai/clip-vit-base-patch16"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.head_rgb": {
            "type": "VISUAL",
            "shape": [
              3,
              720,
              1280
            ]
          },
          "observation.images.head_right_rgb": {
            "type": "VISUAL",
            "shape": [
              3,
              720,
              1280
            ]
          },
          "observation.images.left_wrist_rgb": {
            "type": "VISUAL",
            "shape": [
              3,
              360,
              640
            ]
          },
          "observation.images.right_wrist_rgb": {
            "type": "VISUAL",
            "shape": [
              3,
              360,
              640
            ]
          },
          "observation.state.left_arm": {
            "type": "STATE",
            "shape": [
              6
            ]
          },
          "observation.state.left_arm.velocities": {
            "type": "STATE",
            "shape": [
              6
            ]
          },
          "observation.state.right_arm": {
            "type": "STATE",
            "shape": [
              6
            ]
          },
          "observation.state.right_arm.velocities": {
            "type": "STATE",
            "shape": [
              6
            ]
          },
          "observation.state.chassis.imu": {
            "type": "STATE",
            "shape": [
              10
            ]
          },
          "observation.state.chassis": {
            "type": "STATE",
            "shape": [
              3
            ]
          },
          "observation.state.chassis.velocities": {
            "type": "STATE",
            "shape": [
              3
            ]
          },
          "observation.state.torso": {
            "type": "STATE",
            "shape": [
              4
            ]
          },
          "observation.state.torso.velocities": {
            "type": "STATE",
            "shape": [
              4
            ]
          },
          "observation.state.left_gripper": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.state.right_gripper": {
            "type": "STATE",
            "shape": [
              1
            ]
          },
          "observation.state.left_ee_pose": {
            "type": "STATE",
            "shape": [
              7
            ]
          },
          "observation.state.right_ee_pose": {
            "type": "STATE",
            "shape": [
              7
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              14
            ]
          },
          "action.left_gripper": {
            "type": "ACTION",
            "shape": [
              1
            ]
          },
          "action.right_gripper": {
            "type": "ACTION",
            "shape": [
              1
            ]
          },
          "action.chassis.velocities": {
            "type": "ACTION",
            "shape": [
              6
            ]
          },
          "action.torso.velocities": {
            "type": "ACTION",
            "shape": [
              6
            ]
          },
          "action.left_arm": {
            "type": "ACTION",
            "shape": [
              6
            ]
          },
          "action.right_arm": {
            "type": "ACTION",
            "shape": [
              6
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              14
            ]
          }
        },
        "norm_map": {
          "VISUAL": "MEAN_STD",
          "STATE": "MIN_MAX",
          "ACTION": "MIN_MAX"
        }
      },
      "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors"
    }
  ]
}