{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "relative_actions_processor",
      "config": {
        "enabled": false,
        "exclude_joints": [],
        "action_names": null
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.state": {
            "type": "STATE",
            "shape": [
              14
            ]
          },
          "observation.images.cam_high": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.images.cam_left_wrist": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.images.cam_right_wrist": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              14
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "QUANTILES",
          "ACTION": "QUANTILES"
        }
      },
      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
    },
    {
      "registry_name": "lingbot_vla_v2_slot_mapping",
      "config": {
        "state_spans": {
          "arm.position": [
            [
              0,
              6
            ],
            [
              7,
              13
            ]
          ],
          "effector.position": [
            [
              6,
              7
            ],
            [
              13,
              14
            ]
          ]
        },
        "action_spans": {
          "arm.position": [
            [
              0,
              6
            ],
            [
              7,
              13
            ]
          ],
          "effector.position": [
            [
              6,
              7
            ],
            [
              13,
              14
            ]
          ]
        },
        "canonical_joints": {
          "arm.position": 14,
          "end.position": 14,
          "effector.position": 2,
          "hand.position": 12,
          "waist.position": 4,
          "head.position": 2,
          "base.velocity": 3,
          "reserved.slots": 4
        },
        "chunk_size": 50,
        "max_state_dim": 55,
        "max_action_dim": 55
      }
    },
    {
      "registry_name": "lingbot_vla_v2_image",
      "config": {
        "tokenizer_path": "image_processor",
        "cameras": [
          "cam_high",
          "cam_left_wrist",
          "cam_right_wrist"
        ],
        "resize_imgs_with_padding": [
          256,
          256
        ],
        "image_max_pixels": 65536,
        "image_min_pixels": 65536
      },
      "artifacts": {
        "tokenizer_path": "image_processor"
      }
    },
    {
      "registry_name": "lingbot_vla_v2_chat_template",
      "config": {
        "task_key": "task",
        "tokenizer_name": "chat_template_tokenizer"
      },
      "artifacts": {
        "tokenizer_name": "chat_template_tokenizer"
      }
    },
    {
      "registry_name": "tokenizer_processor",
      "config": {
        "max_length": 72,
        "task_key": "task",
        "padding_side": "right",
        "padding": "max_length",
        "truncation": true,
        "tokenizer_name": "tokenizer"
      },
      "artifacts": {
        "tokenizer_name": "tokenizer"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cpu",
        "float_dtype": null
      }
    }
  ]
}