{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "render_runtime_messages_processor",
      "config": {
        "recipe": {
          "messages": [
            {
              "role": "user",
              "content": "${task}",
              "stream": "low_level",
              "target": false,
              "if_present": null,
              "tool_calls_from": null
            },
            {
              "role": "assistant",
              "content": "BBoxJSON: ${bbox}",
              "stream": "low_level",
              "target": true,
              "if_present": "bbox",
              "tool_calls_from": null
            },
            {
              "role": "assistant",
              "content": "Subtask: ${subtask}",
              "stream": "low_level",
              "target": true,
              "if_present": "subtask",
              "tool_calls_from": null
            }
          ],
          "bindings": {
            "bbox": "emitted_at(t, style=vqa, role=assistant, camera=observation.images.exterior)"
          },
          "blend": null,
          "weight": null,
          "route": null
        }
      }
    },
    {
      "registry_name": "render_training_messages_processor",
      "config": {
        "recipe": null
      }
    },
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "g05_image_transform",
      "config": {
        "camera_order": [
          "observation.images.head_rgb",
          "observation.images.left_wrist_rgb",
          "observation.images.right_wrist_rgb"
        ],
        "camera_sizes": {
          "observation.images.head_rgb": [
            256,
            256
          ],
          "observation.images.left_wrist_rgb": [
            256,
            256
          ],
          "observation.images.right_wrist_rgb": [
            256,
            256
          ]
        },
        "mean": [
          0.5,
          0.5,
          0.5
        ],
        "std": [
          0.5,
          0.5,
          0.5
        ],
        "optional_camera_keys": []
      }
    },
    {
      "registry_name": "g05_action_operation_mask",
      "config": {
        "action_parts": [
          [
            "left_arm",
            6
          ],
          [
            "left_gripper",
            1
          ],
          [
            "right_arm",
            6
          ],
          [
            "right_gripper",
            1
          ]
        ],
        "joint_threshold": null,
        "gripper_threshold": null,
        "velocity_threshold": 0.1,
        "eef_threshold": 0.001,
        "dim_thresholds": {
          "left_arm": [
            0.00756,
            0.00662,
            0.0432,
            0.00732,
            0.00493,
            0.00612
          ],
          "right_arm": [
            0.0115,
            0.00717,
            0.0619,
            0.012,
            0.00737,
            0.00918
          ]
        }
      }
    },
    {
      "registry_name": "g05_relative_joint_actions",
      "config": {
        "enabled": true,
        "exclude_joints": [
          "gripper"
        ],
        "action_names": [
          "left_arm.0",
          "left_arm.1",
          "left_arm.2",
          "left_arm.3",
          "left_arm.4",
          "left_arm.5",
          "left_gripper.0",
          "right_arm.0",
          "right_arm.1",
          "right_arm.2",
          "right_arm.3",
          "right_arm.4",
          "right_arm.5",
          "right_gripper.0"
        ],
        "num_obs_steps": 6
      }
    },
    {
      "registry_name": "g05_embodiment_projection",
      "config": {
        "embodiment": "galaxea_r1lite",
        "policy_state_dim": 27,
        "policy_action_dim": 27,
        "camera_order": [
          "observation.images.head_rgb",
          "observation.images.left_wrist_rgb",
          "observation.images.right_wrist_rgb"
        ]
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.state": {
            "type": "STATE",
            "shape": [
              27
            ]
          },
          "observation.images.head_rgb": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.images.left_wrist_rgb": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.images.right_wrist_rgb": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              27
            ]
          }
        },
        "norm_map": {
          "STATE": "MEAN_STD",
          "ACTION": "MEAN_STD",
          "VISUAL": "IDENTITY"
        }
      },
      "state_file": "policy_preprocessor_step_7_normalizer_processor.safetensors"
    },
    {
      "registry_name": "g05_normalization_clamp",
      "config": {
        "minimum": -5.0,
        "maximum": 5.0
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    },
    {
      "registry_name": "g05_tokenizer",
      "config": {
        "processor_dir": "hf_processor",
        "action_tokenizer_path": "action_tokenizer.safetensors"
      },
      "artifacts": {
        "processor_dir": "hf_processor",
        "action_tokenizer_path": "action_tokenizer.safetensors"
      }
    }
  ]
}