{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "relative_actions_processor",
      "config": {
        "enabled": false,
        "exclude_joints": [
          "gripper"
        ],
        "action_names": null
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.wrist_image_left": {
            "type": "VISUAL",
            "shape": [
              3,
              360,
              640
            ]
          },
          "observation.images.exterior_image_1_left": {
            "type": "VISUAL",
            "shape": [
              3,
              360,
              640
            ]
          },
          "observation.images.exterior_image_2_left": {
            "type": "VISUAL",
            "shape": [
              3,
              360,
              640
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              8
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              8
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "IDENTITY",
          "ACTION": "IDENTITY"
        }
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    },
    {
      "registry_name": "flux3_camera_resize",
      "config": {
        "camera_keys": [
          "observation.images.wrist_image_left",
          "observation.images.exterior_image_1_left",
          "observation.images.exterior_image_2_left"
        ],
        "camera_layout": "droid"
      }
    }
  ]
}