Fix PI052 config and processor serialization

Remove the obsolete use_hf_kernels field and training checkpoint references. Serialize the language recipe, text tokenizer settings, and portable FAST tokenizer mapping.

config.json

@@ -45,12 +45,10 @@
     "use_amp": false,
     "use_peft": false,
     "push_to_hub": true,
-    "repo_id": "pepijn223/pi052_robocasa_ki_false_cont40k-ema",
+    "repo_id": null,
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "pepijn223/pi052_robocasa_ki_false_20k",
-    "pretrained_revision": null,
     "paligemma_variant": "gemma_2b",
     "action_expert_variant": "gemma_300m",
     "dtype": "bfloat16",
@@ -82,8 +80,8 @@
         "STATE": "MEAN_STD",
         "ACTION": "MEAN_STD"
     },
-    "gradient_checkpointing": true,
-    "compile_model": true,
+    "gradient_checkpointing": false,
+    "compile_model": false,
     "compile_mode": "default",
     "freeze_vision_encoder": false,
     "train_expert_only": false,
@@ -122,7 +120,6 @@
     "flow_num_repeats": 5,
     "text_ce_z_loss_weight": 0.0001,
     "use_flashrt_fp8_mlp": false,
-    "use_hf_kernels": true,
     "optimizer_foreach": false,
     "optimizer_fused": true
-}
+}

policy_preprocessor.json

@@ -73,18 +73,97 @@
     },
     {
       "registry_name": "render_messages_processor",
-      "config": {}
+      "config": {
+        "recipe": {
+          "blend": {
+            "high_level_subtask": {
+              "weight": 0.25,
+              "messages": [
+                {
+                  "role": "user",
+                  "content": "${task}",
+                  "stream": "high_level"
+                },
+                {
+                  "role": "assistant",
+                  "content": "${subtask}",
+                  "stream": "high_level",
+                  "target": true,
+                  "if_present": "subtask"
+                }
+              ]
+            },
+            "low_level_execution": {
+              "weight": 0.6,
+              "messages": [
+                {
+                  "role": "user",
+                  "content": "${subtask}",
+                  "stream": "low_level",
+                  "if_present": "subtask"
+                }
+              ]
+            },
+            "memory_update": {
+              "weight": 0.15,
+              "bindings": {
+                "prior_memory": "nth_prev(style=memory, offset=1)",
+                "current_memory": "active_at(t, style=memory)",
+                "completed_subtask": "nth_prev(style=subtask, offset=1)"
+              },
+              "messages": [
+                {
+                  "role": "user",
+                  "content": "${task}",
+                  "stream": "high_level"
+                },
+                {
+                  "role": "assistant",
+                  "content": "Previous memory: ${prior_memory}",
+                  "stream": "high_level",
+                  "if_present": "prior_memory"
+                },
+                {
+                  "role": "user",
+                  "content": "Completed subtask: ${completed_subtask}",
+                  "stream": "high_level",
+                  "if_present": "completed_subtask"
+                },
+                {
+                  "role": "assistant",
+                  "content": "${current_memory}",
+                  "stream": "high_level",
+                  "target": true,
+                  "if_present": "current_memory"
+                }
+              ]
+            }
+          }
+        }
+      }
     },
     {
       "registry_name": "pi052_text_tokenizer",
-      "config": {}
+      "config": {
+        "tokenizer_name": "google/paligemma-3b-pt-224",
+        "max_length": 128,
+        "padding": "max_length",
+        "padding_side": "right",
+        "plan_dropout_prob": 0.0,
+        "memory_dropout_prob": 0.0,
+        "subtask_dropout_prob": 0.0,
+        "interjection_dropout_prob": 0.0,
+        "dropout_seed": null
+      }
     },
     {
       "registry_name": "action_tokenizer_processor",
       "config": {
         "trust_remote_code": true,
         "max_action_tokens": 384,
-        "action_tokenizer_name": "/admin/home/pepijn/.cache/lerobot/fast_tokenizers/1d29921c44c02fc7"
+        "fast_skip_tokens": 128,
+        "paligemma_tokenizer_name": "google/paligemma-3b-pt-224",
+        "action_tokenizer_name": "lerobot/fast-action-tokenizer"
       }
     },
     {
@@ -95,4 +174,4 @@
       }
     }
   ]
-}
+}