{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "data_transforms_processor",
      "config": {
        "input_features": {
          "observation.images.side": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ],
            "names": [
              "channel",
              "height",
              "width"
            ],
            "dtype": "torch.float32"
          },
          "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ],
            "names": [
              "channel",
              "height",
              "width"
            ],
            "dtype": "torch.float32"
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              9
            ],
            "names": [
              "x",
              "y",
              "z",
              "qx",
              "qy",
              "qz",
              "qw",
              "gripper_q1",
              "gripper_q2"
            ],
            "dtype": "torch.float32"
          }
        },
        "output_features": {
          "action": {
            "type": "ACTION",
            "shape": [
              7
            ],
            "names": [
              "x",
              "y",
              "z",
              "rx",
              "ry",
              "rz",
              "tool"
            ],
            "dtype": "torch.float32"
          }
        },
        "chunk_size": 50,
        "data_transforms": [
          "robosuite_manipulator_absolute_to_delta_actions"
        ],
        "inverse": false
      }
    },
    {
      "registry_name": "validate_observations_processor",
      "config": {
        "input_features": {
          "observation.images.side": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ],
            "names": [
              "channel",
              "height",
              "width"
            ],
            "dtype": "torch.float32"
          },
          "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ],
            "names": [
              "channel",
              "height",
              "width"
            ],
            "dtype": "torch.float32"
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              9
            ],
            "names": [
              "x",
              "y",
              "z",
              "qx",
              "qy",
              "qz",
              "qw",
              "gripper_q1",
              "gripper_q2"
            ],
            "dtype": "torch.float32"
          }
        },
        "output_features": {
          "action": {
            "type": "ACTION",
            "shape": [
              7
            ],
            "names": [
              "x",
              "y",
              "z",
              "rx",
              "ry",
              "rz",
              "tool"
            ],
            "dtype": "torch.float32"
          }
        },
        "chunk_size": 50
      }
    },
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "pi0_new_line_processor",
      "config": {}
    },
    {
      "registry_name": "tokenizer_processor",
      "config": {
        "max_length": 48,
        "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
      }
    },
    {
      "registry_name": "delta_actions_processor",
      "config": {
        "enabled": false,
        "exclude_joints": [
          "gripper"
        ],
        "action_names": [
          "x",
          "y",
          "z",
          "rx",
          "ry",
          "rz",
          "gripper"
        ]
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.side": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              9
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              7
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "MEAN_STD",
          "ACTION": "MEAN_STD"
        }
      },
      "state_file": "policy_preprocessor_step_7_normalizer_processor.safetensors"
    }
  ]
}