{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {
          "observation.images.top": "observation.images.image",
          "observation.images.wrist": "observation.images.image2"
        }
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.image": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.images.image2": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              6
            ]
          }
        },
        "norm_map": {
          "ACTION": "MIN_MAX",
          "STATE": "MIN_MAX",
          "VISUAL": "IDENTITY"
        }
      },
      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
    },
    {
      "registry_name": "lawam_resize_images",
      "config": {
        "image_features": [
          "observation.images.image",
          "observation.images.image2"
        ],
        "image_hw": [
          256,
          256
        ]
      }
    },
    {
      "registry_name": "lawam_qwen_inputs",
      "config": {
        "model_id": "Qwen/Qwen3-VL-2B-Instruct",
        "placeholder_token": "<ACT_PH>",
        "act_queries": 8,
        "flow_queries": 8,
        "primary_image_features": [
          "observation.images.image"
        ],
        "wrist_image_features": [
          "observation.images.image2"
        ],
        "image_hw": [
          256,
          256
        ],
        "default_task": "Execute the robot action.",
        "cot_prompt_before_wrist": "Your task is {instruction}.\n\nFrom main-view observations, infer the robot arm's motion.",
        "cot_prompt_after_wrist": "Then use observations and the inferred motion to produce the robot policy actions."
      }
    },
    {
      "registry_name": "lawam_prepare_batch",
      "config": {
        "lam_image_feature": "observation.images.image",
        "image_hw": [
          256,
          256
        ],
        "action_horizon": 24,
        "chunk_size": 50,
        "action_dim": 32,
        "state_dim": 32,
        "use_state": false,
        "action_hz": 30.0,
        "embodiment_id": 25
      }
    }
  ]
}