{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "starvla_libero_state",
      "config": {}
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "starvla_libero_gripper_target",
      "config": {
        "gripper_action_indices": [],
        "threshold": 0.0
      }
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.state": {
            "type": "STATE",
            "shape": [
              9
            ]
          },
          "observation.velocity": {
            "type": "STATE",
            "shape": [
              9
            ]
          },
          "observation.images.main_camera": {
            "type": "VISUAL",
            "shape": [
              3,
              240,
              320
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              9
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "QUANTILES",
          "ACTION": "MIN_MAX"
        }
      },
      "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors"
    },
    {
      "registry_name": "starvla_binary_action",
      "config": {
        "binary_action_indices": [],
        "threshold": 0.5
      }
    },
    {
      "registry_name": "starvla_pack_examples",
      "config": {
        "image_keys": [
          "observation.images.main_camera"
        ],
        "task_key": "task",
        "default_task": "",
        "use_state": true,
        "image_size": [
          224,
          224
        ]
      }
    }
  ]
}