{
  "name": "policy_postprocessor",
  "steps": [
    {
      "registry_name": "g05_stepwise_unnormalizer",
      "config": {
        "eps": 1e-08,
        "features": {
          "action": {
            "type": "ACTION",
            "shape": [
              20
            ]
          }
        },
        "norm_map": {
          "ACTION": "QUANTILES"
        },
        "n_action_steps": 16
      },
      "state_file": "policy_postprocessor_step_0_g05_stepwise_unnormalizer.safetensors"
    },
    {
      "registry_name": "g05_inverse_action_projection",
      "config": {
        "embodiment": "so100",
        "policy_action_dim": 20
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cpu",
        "float_dtype": null
      }
    },
    {
      "registry_name": "absolute_actions_processor",
      "config": {
        "enabled": true
      }
    },
    {
      "registry_name": "g05_action_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
        ],
        "inverse": true
      }
    },
    {
      "registry_name": "g05_action_history_crop",
      "config": {
        "num_obs_steps": 1
      }
    }
  ]
}