{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.image": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.images.wrist_image": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "observation.state.joint": {
            "type": "STATE",
            "shape": [
              7
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              7
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "MEAN_STD",
          "ACTION": "MEAN_STD"
        }
      },
      "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
    },
    {
      "registry_name": "eo1_conversation_template_processor",
      "config": {
        "input_features": {
          "observation.images.image": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.images.wrist_image": {
            "type": "VISUAL",
            "shape": [
              3,
              256,
              256
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "observation.state.joint": {
            "type": "STATE",
            "shape": [
              7
            ]
          }
        },
        "chunk_size": 8
      }
    },
    {
      "registry_name": "eo1_qwen_processor",
      "config": {
        "processor_name": "Qwen/Qwen3.5-0.8B",
        "image_min_pixels": 50176,
        "image_max_pixels": 100352,
        "use_fast_processor": true
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}