{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    },
    {
      "registry_name": "cosmos3_idle_frame_processor",
      "config": {
        "action_feature_names": [
          "pos_0",
          "pos_1",
          "pos_2",
          "rot6d_0",
          "rot6d_1",
          "rot6d_2",
          "rot6d_3",
          "rot6d_4",
          "rot6d_5",
          "gripper_0"
        ],
        "fps": 20.0,
        "use_state": false,
        "idle_state": false,
        "translation_threshold": 0.005,
        "rotation_threshold": 0.026179938779914945,
        "gripper_threshold": 0.01,
        "joint_threshold": 0.005,
        "min_streak": 3
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.image": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.images.image2": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              10
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "IDENTITY",
          "ACTION": "QUANTILES"
        }
      },
      "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors"
    },
    {
      "registry_name": "cosmos3_video_canvas_processor",
      "config": {
        "camera_keys": [
          "observation.images.image",
          "observation.images.image2"
        ],
        "view_size": [
          256,
          256
        ],
        "fps": 20.0,
        "chunk_size": 16,
        "temporal_compression": 4,
        "spatial_compression": 16
      }
    },
    {
      "registry_name": "cosmos3_prompt_processor",
      "config": {
        "view_description": "The left half shows the third-person view; the right half shows the wrist-mounted camera.",
        "fps": 20.0,
        "chunk_size": 16,
        "use_state": false
      }
    },
    {
      "registry_name": "cosmos3_tokenizer_processor",
      "config": {
        "tokenizer_name": "tokenizer",
        "cfg_dropout_rate": 0.1
      },
      "artifacts": {
        "tokenizer_name": "tokenizer"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}