Linslab
/

ManiLadder_Models

Model card Files Files and versions

xet

Community

Linslab commited on 7 days ago

Commit

b100830

verified ·

1 Parent(s): 35260ba

Update DualArmJugglingBall-v1 RadioFlow normalization

Browse files

Files changed (1) hide show

DualArmJugglingBall-v1/norm_stats.json +274 -274

DualArmJugglingBall-v1/norm_stats.json CHANGED Viewed

@@ -1,5 +1,5 @@
 {
-  "count": 9738,
   "target_image_size": [
     192,
     256
@@ -14,284 +14,284 @@
   "state_dim": 92,
   "action_dim": 44,
   "state_mean": [
-    0.006046766351241448,
-    0.2643171637714592,
-    0.007840540914325303,
-    -2.054492348113034,
-    1.5717951305766058,
-    1.5772283645865115,
-    0.12165724882933668,
-    0.837480267155435,
-    0.6474562941280905,
-    0.6453553079045177,
-    1.5668860279948658,
-    -0.0004532648960776219,
-    -0.0012767189877723557,
-    -0.1345648503050128,
-    9.50822276225836e-05,
-    -0.000634676226566718,
-    0.20320805741219472,
-    0.4557891818296243,
-    0.1047734351127955,
-    0.3929478160881412,
-    0.64669861233923,
-    0.45620788462289513,
-    0.309454789288653,
-    0.0019869123139092414,
-    0.0004517748757728878,
-    0.0020603869703123986,
-    0.015406693609441535,
-    0.0016334611085555267,
-    0.003338852812707372,
-    -0.09058388158412832,
-    0.024909707768185137,
-    0.018848184748855763,
-    0.018549599251591452,
-    0.03316019952037414,
-    0.0003949162849408997,
-    -0.00047868391604856056,
-    -0.004003902510084061,
-    6.067117438321205e-05,
-    0.00016709409876366498,
-    0.006035337196672922,
-    0.01308697249722614,
-    0.0015209202559147924,
-    0.011590406593959842,
-    0.019108412486211566,
-    0.013292249015615909,
-    0.007736706916221021,
-    -0.020530207972167987,
-    0.26962485359502536,
-    -0.02068678272946476,
-    -2.0875885158526284,
-    -1.5787142837382997,
-    1.6036898702487092,
-    -0.22083875484614232,
-    0.843112196629019,
-    0.6348600974989067,
-    0.6481709047498698,
-    -1.5670551738643803,
-    0.0074066511793030405,
-    -0.0021870434117613373,
-    0.1251633167792319,
-    -0.00017509930091711196,
-    0.0010892145279302171,
-    0.19120948691771186,
-    0.45270999164375936,
-    0.10427085019017439,
-    0.3865196508496989,
-    0.6421139795477591,
-    0.45074833219837734,
-    0.30356778742600715,
-    -0.003502088655155423,
-    0.002614068326352277,
-    -0.0036882891411472935,
-    0.02168190478620903,
-    -0.0013773433745735172,
-    0.006185497365003709,
-    0.06413211737179268,
-    0.021822989153711066,
-    0.0209296862669917,
-    0.019469616395392304,
-    -0.03331443583331903,
-    0.00026450859063071203,
-    0.002361566762291297,
-    0.0017282735409769525,
-    9.111108543446129e-06,
-    -0.0007689799704240358,
-    0.006124889604998644,
-    0.013395954381499868,
-    0.0020310632019031744,
-    0.01129467582589402,
-    0.01863381321231167,
-    0.013072115837826767,
-    0.007741066573583093
   ],
   "state_std": [
-    0.03694392434935748,
-    0.3383962810443419,
-    0.03439126569065958,
-    0.2455402083191838,
-    0.03410169765208719,
-    0.05451816498312639,
-    0.9545368858862193,
-    0.5238253717896622,
-    0.40544487591704,
-    0.40528377139799443,
-    0.28890303901635006,
-    0.000929952480320458,
-    0.0036053512924877624,
-    0.08370447790262865,
-    0.00017758090241961908,
-    0.0014557946739041886,
-    0.12660313411746263,
-    0.285651954542534,
-    0.021613419254811375,
-    0.24573545348386489,
-    0.4055054655314552,
-    0.28580093643904014,
-    0.12284084722942114,
-    0.02197819886663983,
-    0.14379598961548562,
-    0.02501311140407137,
-    0.19075614247092165,
-    0.020341735607469272,
-    0.03802404822326889,
-    0.3488984770499028,
-    0.198482991421202,
-    0.1748640466851786,
-    0.17358160927628646,
-    0.08600339845127047,
-    0.002306582013406306,
-    0.017535868567581013,
-    0.08790754617422868,
-    0.0003507650407346677,
-    0.0030270345234309224,
-    0.11214239597236016,
-    0.148952004350973,
-    0.03824319998279446,
-    0.1408566636828709,
-    0.17404677806031665,
-    0.14909946721380007,
-    0.09855565311761612,
-    0.04416836003457901,
-    0.30479071006772485,
-    0.045326777361761536,
-    0.2869326734778907,
-    0.0309561730054051,
-    0.06986598398943798,
-    0.7113908731696129,
-    0.5265716020857366,
-    0.4001924129557294,
-    0.4075920548970082,
-    0.28896570309022707,
-    0.02842146377752363,
-    0.011539384028459793,
-    0.080965778104001,
-    0.0003549420042014197,
-    0.005717439479649391,
-    0.12053589131969424,
-    0.2857684808132584,
-    0.02137129503923896,
-    0.24392308314673042,
-    0.40344778040891266,
-    0.2843923374721215,
-    0.11916990371793225,
-    0.030144793678304922,
-    0.1152727800271564,
-    0.03308927746830153,
-    0.23035665479119966,
-    0.01950946643290859,
-    0.051281938743804364,
-    0.3290435172979219,
-    0.19208195778815357,
-    0.16689972523478264,
-    0.16602130762512876,
-    0.08594500048764178,
-    0.012476077524569872,
-    0.01109868463862667,
-    0.08800071744612131,
-    0.00018593710482594958,
-    0.0035791931199795606,
-    0.0983184860072009,
-    0.13826771765242324,
-    0.03817119866409701,
-    0.12865409863345395,
-    0.16566137574947434,
-    0.13817373774865496,
-    0.08879703309704867
   ],
   "action_mean": [
-    0.0026406327741941987,
-    -0.0043551379301741905,
-    0.00844694987210277,
-    0.025808011795074498,
-    0.00018921706917402855,
-    0.00010719176253767155,
-    0.00013752578870579113,
-    0.025349600531386816,
-    0.00019225256640383292,
-    0.011820701555884485,
-    0.000577897900624747,
-    0.0190432570783777,
-    0.005908437982079874,
-    0.019266785958454224,
-    -0.004865926571148419,
-    0.019673125457123488,
-    0.013771720283313851,
-    0.01364471156179909,
-    0.0339402361398514,
-    -2.9328209343543823e-05,
-    0.0022837365485483337,
-    0.008106213207294306,
-    0.005112836241946282,
-    0.005921938664511896,
-    0.013711756295364823,
-    -0.021507432764255676,
-    1.6189491840292317e-05,
-    -1.5027209027297047e-05,
-    -0.002224538051255759,
-    0.023555001023531853,
-    -0.0003249085109222115,
-    0.011487371518467014,
-    0.0006558091137594126,
-    0.021790476567907564,
-    0.0071127420161504395,
-    0.01961221917087305,
-    0.00606035399822809,
-    0.01780076983862883,
-    0.012743044293977067,
-    0.01332941917214471,
-    -0.03388829374844679,
-    5.391988220373081e-05,
-    0.0023267134068547042,
-    0.007971542644720634
   ],
   "action_std": [
-    0.030691378978381333,
-    0.07803818036774912,
-    0.0678935109015921,
-    0.1007174482965327,
-    0.0007482513677264605,
-    0.0004318710586690932,
-    0.0002990411885600596,
-    0.19886904915494624,
-    0.0004472886090303561,
-    0.13882536962937178,
-    0.0045490419757308114,
-    0.1735205712006329,
-    0.10739817361638573,
-    0.17365540771430577,
-    0.09022461182599867,
-    0.1737718756947875,
-    0.1477363193195321,
-    0.14772538539553948,
-    0.08666869735750629,
-    0.00011053104522691427,
-    0.033237766252302646,
-    0.09496610277028836,
-    0.04280835298841698,
-    0.08744929049368048,
-    0.10475025535500432,
-    0.08393417649789778,
-    0.00012347230544749741,
-    0.0001164709875894852,
-    0.008526501818906155,
-    0.19219257396476463,
-    0.0017186045266801876,
-    0.1257521689157913,
-    0.003463225378621185,
-    0.1653526618657566,
-    0.09241650488318734,
-    0.16491679771745954,
-    0.07973379673232603,
-    0.16482111855549794,
-    0.13590800966392064,
-    0.13593347701855987,
-    0.08668792312483412,
-    0.00014917402747588633,
-    0.03324434128439668,
-    0.08317654110264032
   ],
   "state_norm_policy": "continuous_only",
   "state_fields": [
@@ -354,5 +354,5 @@
       92
     ]
   ],
-  "notes": "State stats computed ONLY on continuous dims; discrete/bool dims keep raw (mean=0,std=1). All stats computed over aligned length T (drop last obs to align with actions)."
 }

 {
+  "count": 9659,
   "target_image_size": [
     192,
     256
   "state_dim": 92,
   "action_dim": 44,
   "state_mean": [
+    0.008095545325022569,
+    0.25502779407216375,
+    0.0100137378162323,
+    -2.0716629270219276,
+    1.5736588698537322,
+    1.5803870175834867,
+    0.10883121575783382,
+    0.8418514501708909,
+    0.6503681699246637,
+    0.6483212834522333,
+    1.5659587764068286,
+    -0.0004465051969445137,
+    -0.0013543184164556468,
+    -0.13540475000437646,
+    9.448725025054212e-05,
+    -0.0006143936327603449,
+    0.2036217136648776,
+    0.45735611132693527,
+    0.10445245538619045,
+    0.39407632071811505,
+    0.6496500946452562,
+    0.45777522689941935,
+    0.31003589668765413,
+    0.002093479619236331,
+    0.0015457793557861592,
+    0.002226001506184983,
+    0.016236556492496463,
+    0.0017024333718877367,
+    0.0036065206809365027,
+    -0.09161077940744615,
+    0.025283839044843794,
+    0.01898454264208935,
+    0.01868617809451691,
+    0.033441676229430284,
+    0.00044214681783222553,
+    -0.0004930835678802072,
+    -0.003995288283649261,
+    5.94143850167429e-05,
+    0.00033136995282854396,
+    0.0060674083571739725,
+    0.01317376573968491,
+    0.0015611022724927744,
+    0.011777342638342273,
+    0.019216502395705774,
+    0.013367371745685669,
+    0.007798329695318558,
+    -0.021467546315417807,
+    0.2604063580555521,
+    -0.02192400084074964,
+    -2.1035922019300726,
+    -1.578209390538069,
+    1.6056639973526603,
+    -0.21089602594874862,
+    0.8491766138041316,
+    0.6402904194345284,
+    0.6520974823752592,
+    -1.5661307723514133,
+    0.007157701827602632,
+    -0.0027620355683599467,
+    0.12685169971452157,
+    -0.00017692010191442726,
+    0.0010742618620831856,
+    0.19303791140771542,
+    0.45568489180487254,
+    0.10392713839103754,
+    0.38931815674388326,
+    0.6469960277371163,
+    0.4540226049167446,
+    0.30467315585865334,
+    -0.0037027233989155145,
+    0.003560409342800281,
+    -0.003926524689183111,
+    0.022695527429370716,
+    -0.0013173973549305907,
+    0.006592270049647961,
+    0.0645834439144511,
+    0.021451949963225674,
+    0.02074435244600054,
+    0.02050399690160526,
+    -0.03358538702752724,
+    0.0004407610646552484,
+    0.003651293762584057,
+    0.0007155403859810129,
+    9.321935673480113e-06,
+    -0.0009660059726806318,
+    0.006139318650801073,
+    0.013939222298827793,
+    0.002050012018031151,
+    0.011420851155692949,
+    0.018770310412732923,
+    0.01318549684647483,
+    0.007804016598802441
   ],
   "state_std": [
+    0.05,
+    0.3329373364828625,
+    0.05,
+    0.24309237581772972,
+    0.05,
+    0.05,
+    0.9557251379330572,
+    0.5212275010776107,
+    0.4033618297504748,
+    0.4032280432733651,
+    0.2898997071951773,
+    0.05,
+    0.05,
+    0.0832309352829394,
+    0.05,
+    0.05,
+    0.12537970850017552,
+    0.2840141321392785,
+    0.05,
+    0.2441800835840191,
+    0.4034472629769352,
+    0.2841580793750543,
+    0.12223546151883544,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.34921631569481765,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.05,
+    0.29822780024706125,
+    0.05,
+    0.2873254968287173,
+    0.05,
+    0.06871077158527109,
+    0.7090344195430435,
+    0.5234469145176083,
+    0.398130572310375,
+    0.40463972476663373,
+    0.2899637260052991,
+    0.05,
+    0.05,
+    0.0802013998249597,
+    0.05,
+    0.05,
+    0.11988447247389444,
+    0.28392528743364337,
+    0.05,
+    0.24253630722203268,
+    0.40124374146967573,
+    0.2827825561817641,
+    0.11882438676566483,
+    0.2,
+    0.2,
+    0.2,
+    0.2401197908531214,
+    0.2,
+    0.2,
+    0.3301089096089288,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2,
+    0.2
   ],
   "action_mean": [
+    0.00290824545894286,
+    -0.0049926714501323894,
+    0.007994140642102625,
+    0.0260190610770101,
+    0.00019499867904701056,
+    0.00010846109605418506,
+    0.00013548333218480916,
+    0.025502802412988166,
+    0.00018618643503956627,
+    0.011875891954736923,
+    0.000552775839055886,
+    0.019172048006446795,
+    0.005941180142994525,
+    0.01938400942651737,
+    -0.004863696719267762,
+    0.019786269664273815,
+    0.013847033703083387,
+    0.01371981198341497,
+    0.03421842104534244,
+    -2.9182116627690672e-05,
+    0.0023003973306379715,
+    0.008162841711790643,
+    0.005482098354945174,
+    0.006590570104777512,
+    0.013980163411902695,
+    -0.021683338173724986,
+    1.9332068517945597e-05,
+    -1.568907776398453e-05,
+    -0.0021498804806113956,
+    0.023754830879599776,
+    -0.00032040594650873603,
+    0.011578355095732094,
+    0.0008282942960540168,
+    0.02171100321086299,
+    0.007035652212368168,
+    0.01969719583378034,
+    0.005873238136588109,
+    0.018172430317038638,
+    0.01293515202679753,
+    0.013431699507747683,
+    -0.03416556952704932,
+    5.448890166697989e-05,
+    0.002345828166956962,
+    0.008035305691262958
   ],
   "action_std": [
+    0.02999312356842254,
+    0.08201242333746532,
+    0.06851530403248254,
+    0.1011012063478175,
+    0.0007668307749958625,
+    0.0004346497739086336,
+    0.00028697258326828423,
+    0.19876933227090068,
+    0.0004285506100731762,
+    0.13769511581293986,
+    0.003985939505277415,
+    0.17305551168136626,
+    0.10646920181013095,
+    0.17318902718939994,
+    0.09056340267426695,
+    0.17330223824781663,
+    0.14679961951853424,
+    0.14678804463341819,
+    0.0869676840541059,
+    0.00011039708171830077,
+    0.03336771032903193,
+    0.09498062011417616,
+    0.04353380922834977,
+    0.09283844266109964,
+    0.10623824480543022,
+    0.08425408250556074,
+    0.00012716815602971802,
+    0.00011735187781713388,
+    0.008237655613039546,
+    0.19296672291547803,
+    0.0016281090968574983,
+    0.12626123142156645,
+    0.003481420556302868,
+    0.16593437816960133,
+    0.09275977194472113,
+    0.1655714672921496,
+    0.0799793698884293,
+    0.1654724027045044,
+    0.1364569389619283,
+    0.13648321076949063,
+    0.08698733978455571,
+    0.00014961891861925682,
+    0.03337557252717322,
+    0.08352074892581944
   ],
   "state_norm_policy": "continuous_only",
   "state_fields": [
       92
     ]
   ],
+  "notes": "State stats computed ONLY on continuous dims; discrete/bool dims keep raw (mean=0,std=1). All stats computed over aligned length T (drop last obs to align with actions). | state_std floored (qpos 0.05, qvel 0.2, other 0.05) so near-constant demo dims cannot explode under small closed-loop deviations."
 }