{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "gr00t_n1d6_process_v1",
      "config": {
        "language_key": "task"
      },
      "state_file": "policy_preprocessor_step_2_gr00t_n1d6_process_v1.safetensors"
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}