{
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  "steps": [
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      "registry_name": "rename_observations_processor",
      "config": {
        "rename_map": {}
      }
    },
    {
      "registry_name": "to_batch_processor",
      "config": {}
    },
    {
      "registry_name": "molmoact2_masked_normalizer",
      "config": {
        "eps": 1e-08,
        "features": {
          "observation.state": {
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              640
            ]
          },
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            ]
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        },
        "norm_map": {
          "VISUAL": "IDENTITY",
          "STATE": "QUANTILES",
          "ACTION": "QUANTILES"
        }
      },
      "state_file": "policy_preprocessor_step_2_molmoact2_masked_normalizer.safetensors"
    },
    {
      "registry_name": "molmoact2_clamp_normalized",
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    },
    {
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      "config": {
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        "checkpoint_revision": null,
        "checkpoint_force_download": false,
        "trust_remote_code": true,
        "action_mode": "continuous",
        "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer",
        "image_keys": [
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        "setup_type": "single SO-100/SO-101 arm with one front RGB camera",
        "control_mode": "absolute joint pose",
        "normalize_language": true,
        "add_setup_tokens": true,
        "add_control_tokens": true,
        "num_state_tokens": 256,
        "max_sequence_length": null,
        "chunk_size": 10,
        "max_action_dim": 32,
        "env_action_dim": 6
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    },
    {
      "registry_name": "device_processor",
      "config": {
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        "float_dtype": null
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    }
  ]
}