{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {
          "observation.images.front": "observation.images.image"
        }
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "tokenizer_processor",
      "config": {
        "max_length": 77,
        "task_key": "task",
        "padding_side": "right",
        "padding": "max_length",
        "truncation": true,
        "tokenizer_name": "openai/clip-vit-large-patch14"
      }
    },
    {
      "registry_name": "dita_language_encoder_processor_step",
      "config": {
        "clip_model_name": "openai/clip-vit-large-patch14",
        "traj_length": 11,
        "chunk_size": 10,
        "device": "cuda"
      }
    },
    {
      "registry_name": "dita_masked_normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.image": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              7
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "ACTION": "QUANTILES",
          "LANGUAGE": "IDENTITY"
        },
        "gripper_mode": "continuous"
      },
      "state_file": "policy_preprocessor_step_4_dita_masked_normalizer_processor.safetensors"
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}