{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {
          "observation.images.on_top": "observation.images.scene",
          "observation.images.camera_on_follower": "observation.images.wrist"
        }
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    },
    {
      "registry_name": "flux3_action_history_normalizer",
      "config": {
        "action_dim": 6,
        "action_representation": "delta",
        "absolute_dims": [
          -1
        ],
        "normalization_clip": 6.0,
        "n_obs_steps": 1,
        "chunk_size": 32,
        "camera_keys": [
          "observation.images.scene",
          "observation.images.wrist"
        ],
        "condition_on_past_actions": false
      },
      "state_file": "policy_preprocessor_step_3_flux3_action_history_normalizer.safetensors"
    }
  ]
}