{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "dm05_task_processor",
      "config": {
        "default_task": "Execute the robot action."
      }
    },
    {
      "registry_name": "relative_actions_processor",
      "config": {
        "enabled": true,
        "exclude_joints": [
          "gripper"
        ],
        "action_names": [
          "shoulder_pan.pos",
          "shoulder_lift.pos",
          "elbow_flex.pos",
          "wrist_flex.pos",
          "wrist_roll.pos",
          "gripper.pos"
        ]
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-06,
        "features": {
          "observation.state": {
            "type": "STATE",
            "shape": [
              6
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              6
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "QUANTILES",
          "ACTION": "QUANTILES"
        },
        "normalize_observation_keys": [
          "observation.state"
        ]
      },
      "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors"
    },
    {
      "registry_name": "dm05_clip_normalized_processor",
      "config": {
        "clip_state": true,
        "clip_action": true
      }
    },
    {
      "registry_name": "dm05_state_bins_processor",
      "config": {}
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cpu",
        "float_dtype": null
      }
    },
    {
      "registry_name": "dm05_tokenizer_processor",
      "config": {
        "processor_name_or_path": "dm05_processor",
        "tokenizer_max_length": 1024,
        "add_state": true,
        "image_keys": [
          "observation.images.top",
          "observation.images.wrist"
        ],
        "default_task": "Execute the robot action."
      },
      "artifacts": {
        "processor_name_or_path": "dm05_processor"
      }
    }
  ]
}