{
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  "input_image_format": "uint8_0_255",
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    {
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          "real_r1_pro_sharpa_relative_eef_relative_hand": 26,
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          "real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
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          "real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
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          "real_r1_pro_sharpa_relative_eef_mecka": 26,
          "real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
          "real_g1_relative_eef_absolute_joints": 25,
          "real_g1_relative_eef_absolute_joints_wrist_cam": 25,
          "real_g1_relative_eef_relative_joints": 25,
          "real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
          "real_r1_pro_sharpa_relative_joint": 29,
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          "oxe_droid_relative_eef_relative_joint_swapped": 24,
          "oxe_droid_relative_eef_relative_joint_upweight_z": 24,
          "oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
          "oxe_droid_relative_eef_relative_joint_3view": 24,
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          "oxe_droid_joint_position_relative": 24,
          "xdof_relative_eef_relative_joint": 27,
          "xdof_relative_eef_relative_joint_subtask": 27,
          "xdof_relative_eef": 27,
          "xdof_relative_joint": 28,
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          "simpler_env_widowx": 1,
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        "video_modality_keys": null,
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      "state_file": "policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors"
    },
    {
      "registry_name": "groot_n1_7_vlm_encode_v1",
      "config": {
        "model_name": "nvidia/Cosmos-Reason2-2B",
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        ],
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        ],
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        "device": "cuda"
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    },
    {
      "registry_name": "device_processor",
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    }
  ]
}