{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {
          "observation.images.top": "observation.images.base_0_rgb",
          "observation.images.left": "observation.images.left_wrist_0_rgb",
          "observation.images.right": "observation.images.right_wrist_0_rgb"
        }
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "relative_actions_processor",
      "config": {
        "enabled": true,
        "exclude_joints": [
          "l_grip",
          "r_grip"
        ],
        "action_names": [
          "l_j1",
          "l_j2",
          "l_j3",
          "l_j4",
          "l_j5",
          "l_j6",
          "l_grip",
          "r_j1",
          "r_j2",
          "r_j3",
          "r_j4",
          "r_j5",
          "r_j6",
          "r_grip"
        ]
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.base_0_rgb": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.images.left_wrist_0_rgb": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.images.right_wrist_0_rgb": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              32
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              14
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "MIN_MAX",
          "ACTION": "MIN_MAX"
        }
      },
      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
    },
    {
      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
      "config": {}
    },
    {
      "registry_name": "tokenizer_processor",
      "config": {
        "max_length": 200,
        "task_key": "task",
        "padding_side": "right",
        "padding": "max_length",
        "truncation": true,
        "tokenizer_name": "google/paligemma-3b-pt-224"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}