{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "tokenizer_processor",
      "config": {
        "max_length": 77,
        "task_key": "task",
        "padding_side": "right",
        "padding": "max_length",
        "truncation": true,
        "tokenizer_name": "tokenizer"
      },
      "artifacts": {
        "tokenizer_name": "tokenizer"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    },
    {
      "registry_name": "mtdit_spatial_relative_actions_processor",
      "config": {
        "enabled": true,
        "exclude_joints": [
          "gripper"
        ],
        "action_names": [
          "joint1",
          "joint2",
          "joint3",
          "joint4",
          "joint5",
          "joint6",
          "gripper",
          "base_x",
          "base_y",
          "base_yaw"
        ]
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.state": {
            "type": "STATE",
            "shape": [
              10
            ]
          },
          "observation.images.left": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.images.right": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.base_pose": {
            "type": "STATE",
            "shape": [
              3
            ]
          },
          "observation.eef_state": {
            "type": "STATE",
            "shape": [
              13
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              10
            ]
          },
          "action.eef": {
            "type": "ACTION",
            "shape": [
              13
            ]
          }
        },
        "norm_map": {
          "VISUAL": "MEAN_STD",
          "STATE": "MIN_MAX",
          "ACTION": "QUANTILES"
        }
      },
      "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
    }
  ]
}