{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "lingbot_vla_v2_feature_transform",
      "config": {
        "robot_config_path": "/fsx/maxime_ellerbach/robots/runs/lingbot_vla_v2/omx_multicubes_robot_config.yaml",
        "norm_stats_path": "/fsx/maxime_ellerbach/robots/runs/lingbot_vla_v2/omx_multicubes_norm_stats.json",
        "processor_path": "Qwen/Qwen3-VL-4B-Instruct",
        "chunk_size": 50,
        "max_state_dim": 55,
        "max_action_dim": 55,
        "tokenizer_max_length": 72,
        "canonical_joints": {
          "arm.position": 14,
          "end.position": 14,
          "effector.position": 2,
          "hand.position": 12,
          "waist.position": 4,
          "head.position": 2,
          "base.velocity": 3,
          "reserved.slots": 4
        },
        "canonical_norm_type": {
          "arm.position": "meanstd",
          "end.position": "meanstd",
          "effector.position": "meanstd",
          "hand.position": "meanstd",
          "waist.position": "meanstd",
          "head.position": "meanstd",
          "base.velocity": "meanstd",
          "reserved.slots": "meanstd"
        },
        "cameras": [
          "camera_top",
          "camera_wrist_left",
          "camera_wrist_right"
        ],
        "resize_imgs_with_padding": [
          224,
          224
        ],
        "image_max_pixels": 262144,
        "image_min_pixels": 131072
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}