{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "cae_fastwam_image_processor",
      "config": {
        "camera_size": [
          224,
          224
        ]
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cpu",
        "float_dtype": null
      }
    },
    {
      "registry_name": "cae_fastwam_suite_normalizer",
      "config": {
        "keys": [
          "observation.state",
          "action"
        ],
        "task_suites": [
          "libero_spatial",
          "libero_object",
          "libero_goal",
          "libero_10"
        ],
        "task_suite": null,
        "clamp": 5.0,
        "range_tol": 0.0001,
        "delta_action_dims": [
          0,
          1,
          2,
          3,
          4,
          5
        ]
      },
      "state_file": "policy_preprocessor_step_4_cae_fastwam_suite_normalizer.safetensors"
    }
  ]
}