{
    "name": "policy_preprocessor",
    "steps": [
        {
            "registry_name": "rename_observations_processor",
            "config": {
                "rename_map": {}
            }
        },
        {
            "registry_name": "to_batch_processor",
            "config": {}
        },
        {
            "registry_name": "relative_actions_processor",
            "config": {
                "enabled": false,
                "exclude_joints": [
                    "gripper"
                ],
                "action_names": [
                    "left_shoulder_pan",
                    "left_shoulder_lift",
                    "left_elbow_flex",
                    "left_wrist_angle",
                    "left_wrist_rotate",
                    "left_gripper",
                    "left_gripper_finger",
                    "right_shoulder_pan",
                    "right_shoulder_lift",
                    "right_elbow_flex",
                    "right_wrist_angle",
                    "right_wrist_rotate",
                    "right_gripper",
                    "right_gripper_finger"
                ]
            }
        },
        {
            "registry_name": "normalizer_processor",
            "config": {
                "eps": 1e-08,
                "features": {
                    "observation.state": {
                        "type": "STATE",
                        "shape": [
                            14
                        ]
                    },
                    "observation.images.cam_high": {
                        "type": "VISUAL",
                        "shape": [
                            3,
                            360,
                            640
                        ]
                    },
                    "observation.images.cam_left_wrist": {
                        "type": "VISUAL",
                        "shape": [
                            3,
                            360,
                            640
                        ]
                    },
                    "observation.images.cam_right_wrist": {
                        "type": "VISUAL",
                        "shape": [
                            3,
                            360,
                            640
                        ]
                    },
                    "action": {
                        "type": "ACTION",
                        "shape": [
                            14
                        ]
                    }
                },
                "norm_map": {
                    "VISUAL": "IDENTITY",
                    "STATE": "QUANTILES",
                    "ACTION": "QUANTILES"
                }
            },
            "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
        },
        {
            "registry_name": "render_runtime_messages_processor",
            "config": {
                "recipe": {
                    "messages": null,
                    "bindings": null,
                    "blend": {
                        "high_level_subtask": {
                            "messages": [
                                {
                                    "role": "user",
                                    "content": "${task}",
                                    "stream": "high_level",
                                    "target": false,
                                    "if_present": null,
                                    "tool_calls_from": null
                                },
                                {
                                    "role": "assistant",
                                    "content": "${subtask}",
                                    "stream": "high_level",
                                    "target": true,
                                    "if_present": "subtask",
                                    "tool_calls_from": null
                                }
                            ],
                            "bindings": null,
                            "blend": null,
                            "weight": 0.3
                        },
                        "low_level_execution": {
                            "messages": [
                                {
                                    "role": "user",
                                    "content": "${subtask}",
                                    "stream": "low_level",
                                    "target": false,
                                    "if_present": "subtask",
                                    "tool_calls_from": null
                                }
                            ],
                            "bindings": null,
                            "blend": null,
                            "weight": 0.7
                        }
                    },
                    "weight": null
                }
            }
        },
        {
            "registry_name": "render_training_messages_processor",
            "config": {
                "recipe": {
                    "messages": null,
                    "bindings": null,
                    "blend": {
                        "high_level_subtask": {
                            "messages": [
                                {
                                    "role": "user",
                                    "content": "${task}",
                                    "stream": "high_level",
                                    "target": false,
                                    "if_present": null,
                                    "tool_calls_from": null
                                },
                                {
                                    "role": "assistant",
                                    "content": "${subtask}",
                                    "stream": "high_level",
                                    "target": true,
                                    "if_present": "subtask",
                                    "tool_calls_from": null
                                }
                            ],
                            "bindings": null,
                            "blend": null,
                            "weight": 0.3
                        },
                        "low_level_execution": {
                            "messages": [
                                {
                                    "role": "user",
                                    "content": "${subtask}",
                                    "stream": "low_level",
                                    "target": false,
                                    "if_present": "subtask",
                                    "tool_calls_from": null
                                }
                            ],
                            "bindings": null,
                            "blend": null,
                            "weight": 0.7
                        }
                    },
                    "weight": null
                }
            }
        },
        {
            "registry_name": "fineart_vla_text_tokenizer",
            "config": {
                "tokenizer_name": "google/paligemma-3b-pt-224",
                "max_length": 128,
                "padding": "max_length",
                "padding_side": "right"
            }
        },
        {
            "registry_name": "action_tokenizer_processor",
            "config": {
                "trust_remote_code": true,
                "max_action_tokens": 384,
                "fast_skip_tokens": 128,
                "paligemma_tokenizer_name": "google/paligemma-3b-pt-224",
                "allow_truncation": false,
                "action_tokenizer_name": "action_tokenizer"
            },
            "artifacts": {
                "action_tokenizer_name": "action_tokenizer"
            }
        },
        {
            "registry_name": "device_processor",
            "config": {
                "device": "cuda",
                "float_dtype": null
            }
        }
    ]
}