{
  "name": "policy_preprocessor",
  "steps": [
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      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "pi0_new_line_processor",
      "config": {}
    },
    {
      "registry_name": "tokenizer_processor",
      "config": {
        "max_length": 48,
        "task_key": "task",
        "padding_side": "right",
        "padding": "max_length",
        "truncation": true,
        "tokenizer_name": "google/paligemma-3b-pt-224"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
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            ]
          },
          "observation.language.tokens": {
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            ]
          },
          "observation.language.attention_mask": {
            "type": "STATE",
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            ]
          },
          "observation.images.cam_left_high": {
            "type": "VISUAL",
            "shape": [
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            ]
          },
          "observation.images.cam_third": {
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            ]
          },
          "observation.tactiles.left_tactile_little_finger_tip": {
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              3,
              3
            ]
          },
          "observation.tactiles.left_tactile_little_finger_nail": {
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            ]
          },
          "observation.tactiles.left_tactile_little_finger_pad": {
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            ]
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          "observation.tactiles.left_tactile_ring_finger_tip": {
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              3,
              3
            ]
          },
          "observation.tactiles.left_tactile_ring_finger_nail": {
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          },
          "observation.tactiles.left_tactile_ring_finger_pad": {
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          "observation.tactiles.left_tactile_middle_finger_tip": {
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              3
            ]
          },
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          },
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          },
          "observation.tactiles.left_tactile_thumb_middle": {
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          },
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          },
          "observation.tactiles.right_tactile_thumb_pad": {
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          },
          "observation.tactiles.right_tactile_palm": {
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          },
          "action": {
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          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "MEAN_STD",
          "ACTION": "MEAN_STD"
        }
      },
      "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
    }
  ]
}