{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.base": {
            "type": "VISUAL",
            "shape": [
              480,
              640,
              3
            ]
          },
          "observation.state": {
            "type": "STATE",
            "shape": [
              32
            ]
          },
          "stage": {
            "type": "REWARD",
            "shape": [
              9,
              5
            ]
          },
          "progress": {
            "type": "REWARD",
            "shape": [
              9,
              1
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "MEAN_STD",
          "LANGUAGE": "IDENTITY",
          "REWARD": "IDENTITY"
        }
      },
      "state_file": "policy_preprocessor_step_1_normalizer_processor.safetensors"
    },
    {
      "class": "lerobot.policies.sarm.processor_sarm.SARMEncodingProcessorStep",
      "config": {}
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}