{
  "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": null
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.robot0_agentview_left": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.images.robot0_agentview_right": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.images.robot0_eye_in_hand": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              16
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              12
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "MEAN_STD",
          "ACTION": "MEAN_STD"
        }
      },
      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
    },
    {
      "registry_name": "render_messages_processor",
      "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": {
        "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,
        "fast_skip_tokens": 128,
        "paligemma_tokenizer_name": "google/paligemma-3b-pt-224",
        "action_tokenizer_name": "lerobot/fast-action-tokenizer"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}