{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    },
    {
      "registry_name": "relative_ee_actions_processor",
      "config": {
        "enabled": true,
        "pos_index": 0,
        "rot6d_index": 3,
        "anchor_obs_index": -1
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.images.top": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              10
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              10
            ]
          }
        },
        "norm_map": {
          "VISUAL": "MEAN_STD",
          "STATE": "QUANTILES",
          "ACTION": "QUANTILES"
        }
      },
      "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors"
    }
  ]
}