{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "molmoact2_masked_normalizer",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.state": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "observation.images.cam_ego": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.images.cam_right_hand": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.images.cam_left_hand": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "observation.images.top": {
            "type": "VISUAL",
            "shape": [
              3,
              480,
              640
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              8
            ]
          }
        },
        "norm_map": {
          "ACTION": "QUANTILES",
          "STATE": "QUANTILES",
          "VISUAL": "IDENTITY"
        }
      },
      "state_file": "policy_preprocessor_step_2_molmoact2_masked_normalizer.safetensors"
    },
    {
      "registry_name": "molmoact2_clamp_normalized",
      "config": {}
    },
    {
      "registry_name": "molmoact2_pack_inputs",
      "config": {
        "checkpoint_path": "allenai/MolmoAct2-BimanualYAM",
        "checkpoint_revision": null,
        "checkpoint_force_download": false,
        "trust_remote_code": true,
        "action_mode": "continuous",
        "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer",
        "image_keys": [
          "observation.images.cam_ego",
          "observation.images.cam_right_hand",
          "observation.images.cam_left_hand",
          "observation.images.top"
        ],
        "setup_type": "dual OpenArm bimanual robot with egocentric and per-wrist cameras",
        "control_mode": "absolute joint position plus gripper position for the right arm",
        "normalize_language": true,
        "add_setup_tokens": true,
        "add_control_tokens": true,
        "num_state_tokens": 256,
        "max_sequence_length": null,
        "chunk_size": 10,
        "max_action_dim": 32,
        "env_action_dim": 8
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}