{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {
          "observation.images.camera_front": "observation.images.base_0_rgb",
          "observation.images.camera_left": "observation.images.left_wrist_0_rgb",
          "observation.images.camera_right": "observation.images.right_wrist_0_rgb"
        }
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "relative_actions_processor",
      "config": {
        "enabled": true,
        "exclude_joints": [
          "gripper"
        ],
        "action_names": [
          "left_joint1",
          "left_joint2",
          "left_joint3",
          "left_joint4",
          "left_joint5",
          "left_joint6",
          "left_gripper",
          "right_joint1",
          "right_joint2",
          "right_joint3",
          "right_joint4",
          "right_joint5",
          "right_joint6",
          "right_gripper"
        ]
      }
    },
    {
      "registry_name": "pi05_state_perturbation_processor",
      "config": {
        "enabled": true,
        "dropout_prob": 0.3,
        "noise_std": 0.05,
        "exclude_joints": [
          "gripper"
        ],
        "action_names": [
          "left_joint1",
          "left_joint2",
          "left_joint3",
          "left_joint4",
          "left_joint5",
          "left_joint6",
          "left_gripper",
          "right_joint1",
          "right_joint2",
          "right_joint3",
          "right_joint4",
          "right_joint5",
          "right_joint6",
          "right_gripper"
        ]
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.base_0_rgb": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.images.left_wrist_0_rgb": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.images.right_wrist_0_rgb": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              32
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              14
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "QUANTILES",
          "ACTION": "QUANTILES"
        }
      },
      "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors"
    },
    {
      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
      "config": {}
    },
    {
      "registry_name": "tokenizer_processor",
      "config": {
        "max_length": 200,
        "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
      }
    }
  ]
}