{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "render_runtime_messages_processor",
      "config": {
        "recipe": {
          "messages": [
            {
              "role": "user",
              "content": "${task}",
              "stream": "low_level",
              "target": false,
              "if_present": null,
              "tool_calls_from": null
            },
            {
              "role": "assistant",
              "content": "BBoxJSON: ${bbox}",
              "stream": "low_level",
              "target": true,
              "if_present": "bbox",
              "tool_calls_from": null
            },
            {
              "role": "assistant",
              "content": "Subtask: ${subtask}",
              "stream": "low_level",
              "target": true,
              "if_present": "subtask",
              "tool_calls_from": null
            }
          ],
          "bindings": {
            "bbox": "emitted_at(t, style=vqa, role=assistant, camera=observation.images.exterior)"
          },
          "blend": null,
          "weight": null,
          "route": null
        }
      }
    },
    {
      "registry_name": "render_training_messages_processor",
      "config": {
        "recipe": null
      }
    },
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "g05_image_transform",
      "config": {
        "camera_order": [
          "observation.images.exterior",
          "observation.images.wrist_left",
          "observation.images.wrist_right"
        ],
        "camera_sizes": {
          "observation.images.exterior": [
            256,
            256
          ],
          "observation.images.wrist_left": [
            256,
            256
          ],
          "observation.images.wrist_right": [
            256,
            256
          ]
        },
        "mean": [
          0.5,
          0.5,
          0.5
        ],
        "std": [
          0.5,
          0.5,
          0.5
        ],
        "optional_camera_keys": [
          "observation.images.wrist_left"
        ]
      }
    },
    {
      "registry_name": "g05_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": "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": false
      }
    },
    {
      "registry_name": "g05_relative_joint_actions",
      "config": {
        "enabled": true,
        "exclude_joints": [],
        "action_names": [
          "right_arm.0",
          "right_arm.1",
          "right_arm.2",
          "right_arm.3",
          "right_arm.4",
          "right_arm.5"
        ],
        "num_obs_steps": 1
      }
    },
    {
      "registry_name": "g05_embodiment_projection",
      "config": {
        "embodiment": "so100",
        "policy_state_dim": 20,
        "policy_action_dim": 20,
        "camera_order": [
          "observation.images.exterior",
          "observation.images.wrist_left",
          "observation.images.wrist_right"
        ]
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.state": {
            "type": "STATE",
            "shape": [
              20
            ]
          },
          "observation.images.exterior": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.images.wrist_left": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.images.wrist_right": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              20
            ]
          }
        },
        "norm_map": {
          "STATE": "QUANTILES",
          "ACTION": "QUANTILES",
          "VISUAL": "IDENTITY"
        }
      },
      "state_file": "policy_preprocessor_step_8_normalizer_processor.safetensors"
    },
    {
      "registry_name": "g05_normalization_clamp",
      "config": {
        "minimum": -5.0,
        "maximum": 5.0
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    },
    {
      "registry_name": "g05_tokenizer",
      "config": {
        "processor_dir": "hf_processor",
        "action_tokenizer_path": "action_tokenizer.safetensors"
      },
      "artifacts": {
        "processor_dir": "hf_processor",
        "action_tokenizer_path": "action_tokenizer.safetensors"
      }
    }
  ]
}