{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "delta_joint_actions_processor",
      "config": {
        "mask": [
          -2,
          7,
          7,
          -2
        ],
        "state_mask": [
          -2,
          7,
          7,
          -5
        ],
        "state_key": "observation.state"
      }
    },
    {
      "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,
              240,
              424
            ]
          },
          "observation.images.left_wrist": {
            "type": "VISUAL",
            "shape": [
              3,
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            ]
          },
          "observation.images.right_wrist": {
            "type": "VISUAL",
            "shape": [
              3,
              240,
              424
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              21
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              18
            ]
          }
        },
        "norm_map": {
          "VISUAL": "MEAN_STD",
          "STATE": "MIN_MAX",
          "ACTION": "MIN_MAX"
        }
      },
      "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors"
    }
  ]
}