Add norm_stats.json next to every checkpoint (104 RadioFlow + 96 PI0.5 LoRA)

RadioFlow: the stats each checkpoint was trained with; dims checked for all 104, values checked against the original training file for 64. ClothCylinderWipe uses its floored policy stats. LiftSoftDex/RubikCube/RopeBridgeDex from their training runs; PlugCharger recomputed from raw. PI0.5: openpi assets of each run (identical to the copy inside the training checkpoint).

BuildTent-v1/norm_stats.json

@@ -0,0 +1,127 @@
+{
+  "count": 14763,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 21,
+  "action_dim": 7,
+  "state_mean": [
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+    0.43375341863448275,
+    0.009321938525170857,
+    -2.1518042296936284,
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+    -0.00017266153066621473,
+    0.09092242398236948,
+    -0.020048344387358932,
+    0.1928555156427703
+  ],
+  "state_std": [
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+    0.33954212993593436,
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+    0.02782794470381262,
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+    0.18038237798009155,
+    0.11739343545209369
+  ],
+  "action_mean": [
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+    -0.2145227934701619
+  ],
+  "action_std": [
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+    0.046358231967428984,
+    0.6617856162716776
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        0,
+        9
+      ]
+    },
+    {
+      "path": "obs/agent/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        9,
+        18
+      ]
+    },
+    {
+      "path": "obs/extra/tcp_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        18,
+        21
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      9
+    ],
+    [
+      9,
+      18
+    ],
+    [
+      18,
+      21
+    ]
+  ],
+  "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)."
+}

ClaySealStamp-v1/norm_stats.json

@@ -0,0 +1,243 @@
+{
+  "count": 18915,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 57,
+  "action_dim": 22,
+  "state_mean": [
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+  "state_std": [
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+  "action_mean": [
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+    0.06337915471045456,
+    0.06471498020610879
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        0,
+        23
+      ]
+    },
+    {
+      "path": "obs/agent/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        23,
+        46
+      ]
+    },
+    {
+      "path": "obs/extra/seal_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        46,
+        49
+      ]
+    },
+    {
+      "path": "obs/extra/target_xy",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 8,
+      "slice": [
+        49,
+        57
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      23
+    ],
+    [
+      23,
+      46
+    ],
+    [
+      46,
+      49
+    ],
+    [
+      49,
+      57
+    ]
+  ],
+  "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)."
+}

ClothWipe-v1/norm_stats.json

@@ -0,0 +1,289 @@
+{
+  "count": 8418,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 52,
+  "action_dim": 22,
+  "state_mean": [
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+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
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+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        0,
+        23
+      ]
+    },
+    {
+      "path": "obs/agent/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        23,
+        46
+      ]
+    },
+    {
+      "path": "obs/extra/avg_dC",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        46,
+        47
+      ]
+    },
+    {
+      "path": "obs/extra/cloth_com_vel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        47,
+        48
+      ]
+    },
+    {
+      "path": "obs/extra/cloth_com_x",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        48,
+        49
+      ]
+    },
+    {
+      "path": "obs/extra/elig_mean",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        49,
+        50
+      ]
+    },
+    {
+      "path": "obs/extra/moved_fraction",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        50,
+        51
+      ]
+    },
+    {
+      "path": "obs/extra/moved_fraction_raw",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        51,
+        52
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      23
+    ],
+    [
+      23,
+      46
+    ],
+    [
+      46,
+      47
+    ],
+    [
+      47,
+      48
+    ],
+    [
+      48,
+      49
+    ],
+    [
+      49,
+      50
+    ],
+    [
+      50,
+      51
+    ],
+    [
+      51,
+      52
+    ]
+  ],
+  "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)."
+}

ClutterGrasp-v1/norm_stats.json

@@ -0,0 +1,357 @@
+{
+  "count": 9802,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 62,
+  "action_dim": 22,
+  "state_mean": [
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+}

CoverPattern-v1/norm_stats.json

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DexOpenDoor-v1/norm_stats.json

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+}

DrapeCloth-v1/norm_stats.json

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+}

DualArmBallClassify-v1/norm_stats.json

@@ -0,0 +1,302 @@
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+}

DualArmBilliardBridge-v1/norm_stats.json

@@ -0,0 +1,392 @@
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+}

DualArmBookPickPlace-v1/norm_stats.json

@@ -0,0 +1,186 @@
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+}

DualArmButtonPress-v1/norm_stats.json

@@ -0,0 +1,290 @@
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+}

DualArmCleanupPotEnv-v1/norm_stats.json

@@ -0,0 +1,270 @@
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+}

DualArmClothAlign-v1/norm_stats.json

@@ -0,0 +1,230 @@
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+}

DualArmClothCylinderWipe-v1/norm_stats.json

@@ -0,0 +1,973 @@
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+}

DualArmClothHanger-v1/norm_stats.json

@@ -0,0 +1,328 @@
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+}

DualArmCoverCloth-v1/norm_stats.json

@@ -0,0 +1,454 @@
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+}

DualArmDoubleDoorBox-v1/norm_stats.json

@@ -0,0 +1,316 @@
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+}

DualArmFlipTable-v1/norm_stats.json

@@ -0,0 +1,420 @@
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+}

DualArmFoldCarton-v1/norm_stats.json

@@ -0,0 +1,288 @@
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+  "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)."
+}

DualArmFoldHandKerchief-v1/norm_stats.json

@@ -0,0 +1,346 @@
+{
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+  "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)."
+}

DualArmHammerHandover-v1/norm_stats.json

@@ -0,0 +1,310 @@
+{
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+}

DualArmJugglingBall-v1/norm_stats.json

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+}

DualArmJumpRope-v1/norm_stats.json

@@ -0,0 +1,438 @@
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+}

DualArmKeyboardType-v1/norm_stats.json

@@ -0,0 +1,424 @@
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+}

DualArmLiftBall-v1/norm_stats.json

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DualArmLiftSoftDex-v1/norm_stats.json

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+}

DualArmMahjongSetup-v1/norm_stats.json

@@ -0,0 +1,212 @@
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+}

DualArmMakeLine-v1/norm_stats.json

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+}

DualArmOpenBottle-v1/norm_stats.json

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+  "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)."
+}

DualArmOpenLaptop-v1/norm_stats.json

@@ -0,0 +1,359 @@
+{
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+}

DualArmOpenPen-v1/norm_stats.json

@@ -0,0 +1,394 @@
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DualArmOpenScissor-v1/norm_stats.json

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+}

DualArmOrganizeCabinet-v1/norm_stats.json

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+}

DualArmPegInHole-v1/norm_stats.json

@@ -0,0 +1,255 @@
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+}

DualArmPingpongBalance-v1/norm_stats.json

@@ -0,0 +1,466 @@
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+}

DualArmPlaceRopeOverRod-v1/norm_stats.json

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+}

DualArmPlugCharger-v1/norm_stats.json

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+}

DualArmPouringWater-v1/norm_stats.json

@@ -0,0 +1,330 @@
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+}

DualArmPressButton-v1/norm_stats.json

@@ -0,0 +1,470 @@
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+}

DualArmPushBox-v1/norm_stats.json

@@ -0,0 +1,286 @@
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+}

DualArmPushObject-v1/norm_stats.json

@@ -0,0 +1,234 @@
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+}

DualArmRopeCylinderWarpping-v1/norm_stats.json

@@ -0,0 +1,282 @@
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+}

DualArmRopeStretch-v1/norm_stats.json

@@ -0,0 +1,406 @@
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+  "state_fields": [
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+  "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)."
+}

DualArmRubikCube-v1/norm_stats.json

@@ -0,0 +1,286 @@
+{
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+  "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)."
+}

DualArmSandShovel-v1/norm_stats.json

@@ -0,0 +1,456 @@
+{
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+    {
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+  "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.",
+  "rgb_preprocessing": {
+    "version": 1,
+    "record_hw": [
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+}

DualArmSendPingpong-v1/norm_stats.json

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+  "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)."
+}

DualArmShapeDoll-v1/norm_stats.json

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+}

DualArmShootBasketball-v1/norm_stats.json

@@ -0,0 +1,554 @@
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+}

DualArmStraightenRope-v1/norm_stats.json

@@ -0,0 +1,234 @@
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+}

DualArmStuffCloth-v1/norm_stats.json

@@ -0,0 +1,438 @@
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+    ]
+  ],
+  "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)."
+}