{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {
          "observation.images.camera_in_hand.rgb": "observation.images.image",
          "observation.images.camera_middle.rgb": "observation.images.image1",
          "observation.images.camera_right.rgb": "observation.images.image2"
        }
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "tokenizer_processor",
      "config": {
        "max_length": 50,
        "task_key": "task",
        "padding_side": "right",
        "padding": "max_length",
        "truncation": true,
        "tokenizer_name": "facebook/bart-large"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.image": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.images.image2": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "observation.images.empty_camera_0": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              8
            ]
          }
        },
        "norm_map": {
          "STATE": "IDENTITY",
          "ACTION": "MEAN_STD",
          "VISUAL": "IDENTITY"
        }
      },
      "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors"
    }
  ]
}