{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {
          "observation.images.opst_cam": "observation.images.image",
          "observation.images.side_cam": "observation.images.image2",
          "observation.images.wrist_cam": "observation.images.image3"
        }
      }
    },
    {
      "registry_name": "beast_refiner_add_batch_dimension",
      "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": "beast_xvla_refiner_v2_image_to_float",
      "config": {}
    },
    {
      "registry_name": "beast_xvla_refiner_v2_imagenet_normalize",
      "config": {}
    },
    {
      "registry_name": "beast_xvla_refiner_v2_add_domain_id",
      "config": {}
    },
    {
      "registry_name": "beast_xvla_refiner_v2_velocity_fallback",
      "config": {
        "velocity_key": "observation.action_velocity",
        "action_dim": 7
      }
    },
    {
      "registry_name": "beast_xvla_refiner_v2_normalize_velocity",
      "config": {
        "velocity_key": "observation.action_velocity",
        "action_scale": [
          0.1521461308002472,
          0.2062179297208786,
          0.12297115474939346,
          0.1427786946296692,
          0.2901972532272339,
          0.47654685378074646,
          0.9008533954620361
        ]
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.state": {
            "type": "STATE",
            "shape": [
              6
            ]
          },
          "observation.environment_state": {
            "type": "ENV",
            "shape": [
              9
            ]
          },
          "observation.images.image3": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.images.image": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.images.image2": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.action_velocity": {
            "type": "STATE",
            "shape": [
              7
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              7
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "IDENTITY",
          "ACTION": "MEAN_STD"
        }
      },
      "state_file": "policy_preprocessor_step_9_normalizer_processor.safetensors"
    }
  ]
}