{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.state": {
            "type": "STATE",
            "shape": [
              6
            ]
          },
          "observation.images.top": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY"
        }
      },
      "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
    },
    {
      "registry_name": "nanovlm_native_processor",
      "config": {
        "pretrained_path": "lusxvr/nanoVLM-460M-8k",
        "code_path": "third_party/nanoVLM",
        "image_keys": [
          "observation.images.top",
          "observation.images.wrist"
        ],
        "max_length": 8192
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}