{
  "name": "policy_preprocessor",
  "steps": [
    {
      "registry_name": "render_messages_processor",
      "config": {
        "recipe": {
          "messages": [
            {
              "role": "user",
              "content": "${task}",
              "stream": "low_level",
              "target": false,
              "if_present": null,
              "tool_calls_from": null
            },
            {
              "role": "assistant",
              "content": "${subtask}",
              "stream": "low_level",
              "target": true,
              "if_present": "subtask",
              "tool_calls_from": null
            }
          ],
          "bindings": null,
          "blend": null,
          "weight": null,
          "route": null
        },
        "render_training": false
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "normalizer_processor",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.images.robot0_agentview_left": {
            "type": "VISUAL",
            "shape": [
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              224,
              224
            ]
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          "observation.images.robot0_agentview_right": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.images.robot0_eye_in_hand": {
            "type": "VISUAL",
            "shape": [
              3,
              224,
              224
            ]
          },
          "observation.state.eef_position": {
            "type": "STATE",
            "shape": [
              3
            ]
          },
          "observation.state.eef_rotation": {
            "type": "STATE",
            "shape": [
              3
            ]
          },
          "observation.state.gripper_qpos": {
            "type": "STATE",
            "shape": [
              2
            ]
          },
          "observation.state.base_position": {
            "type": "STATE",
            "shape": [
              3
            ]
          },
          "observation.state.base_rotation": {
            "type": "STATE",
            "shape": [
              3
            ]
          },
          "action": {
            "type": "ACTION",
            "shape": [
              12
            ]
          }
        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "IDENTITY",
          "ACTION": "IDENTITY"
        }
      }
    },
    {
      "registry_name": "being_h05_semantic_pack",
      "config": {
        "image_keys": [
          "observation.images.robot0_agentview_left",
          "observation.images.robot0_agentview_right",
          "observation.images.robot0_eye_in_hand"
        ],
        "prompt_template": "According to the instruction '{task_description}', what's the micro-step actions in the next {k} steps?",
        "chunk_size": 16,
        "state_slots": {
          "eef_position": [
            0,
            3
          ],
          "eef_rotation": [
            3,
            6
          ],
          "gripper_qpos": [
            44,
            46
          ],
          "base_position": [
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            73
          ],
          "base_rotation": [
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            76
          ]
        },
        "action_slots": {
          "eef_position": [
            0,
            3
          ],
          "eef_rotation": [
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          ],
          "gripper_position": [
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            19
          ],
          "base_motion": [
            70,
            74
          ],
          "control_mode": [
            74,
            75
          ]
        }
      }
    },
    {
      "registry_name": "being_h05_messages",
      "config": {}
    },
    {
      "registry_name": "being_h05_tokenizer",
      "config": {
        "tokenizer_name": "BeingBeyond/Being-H05-2B",
        "system_message": "你是由上海人工智能实验室联合商汤科技开发的书生多模态大模型，英文名叫InternVL, 是一个有用无害的人工智能助手。",
        "tokenizer_revision": "bb31ffcf7d67a8d5ec82d715d5e1678581ef6374"
      }
    },
    {
      "registry_name": "device_processor",
      "config": {
        "device": "cuda",
        "float_dtype": null
      }
    }
  ]
}