{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {
          "observation.images.middle": "observation.images.cam0",
          "observation.images.wrist": "observation.images.cam1"
        }
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "molmoact2_state_frame_transform",
      "config": {
        "joint_signs": [
          1.0,
          -1.0,
          1.0,
          1.0,
          1.0,
          1.0
        ],
        "joint_offsets": [
          0.0,
          90.0,
          90.0,
          0.0,
          0.0,
          0.0
        ]
      }
    },
    {
      "registry_name": "molmoact2_masked_normalizer",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.cam0": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.images.cam1": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              6
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              6
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "QUANTILES",
          "ACTION": "QUANTILES"
        }
      },
      "state_file": "policy_preprocessor_step_3_molmoact2_masked_normalizer.safetensors"
    },
    {
      "registry_name": "molmoact2_clamp_normalized",
      "config": {}
    },
    {
      "registry_name": "molmoact2_pack_inputs",
      "config": {
        "checkpoint_path": "allenai/MolmoAct2-SO100_101",
        "checkpoint_revision": null,
        "checkpoint_force_download": false,
        "action_mode": "continuous",
        "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer",
        "image_keys": [
          "observation.images.cam0",
          "observation.images.cam1"
        ],
        "allow_image_key_fallback": false,
        "setup_type": "single SO-101 follower robot arm with two RGB cameras",
        "control_mode": "absolute joint pose control",
        "normalize_language": true,
        "add_setup_tokens": true,
        "add_control_tokens": true,
        "num_state_tokens": 256,
        "max_sequence_length": null,
        "chunk_size": 30,
        "max_action_dim": 32,
        "env_action_dim": 6
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}