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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)." +} \ No newline at end of file diff --git a/DualArmBookPickPlace-v1/norm_stats.json b/DualArmBookPickPlace-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..5a8f8e46c6ac5945e7ade002954d814f5d9fcf04 --- /dev/null +++ b/DualArmBookPickPlace-v1/norm_stats.json @@ -0,0 +1,186 @@ +{ + "count": 8923, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera_0", + "robot_camera_1", + "top_camera" + ], + "state_dim": 36, + "action_dim": 14, + "state_mean": [ + -0.035945003085634475, + -0.29097062787230826, + 0.06642365587580032, + -2.3769905642518334, + 0.009898779448297312, + 2.339709100896409, + 0.7922792234286595, + 0.03149604285161958, + 0.03147302815887067, + 0.0008518282235421303, + -0.0013972815768616526, + -0.002058126898501227, + -0.001335999588757693, + 0.0060840378253753675, + -0.0017529150550826267, + -0.006589427705043267, + 9.13328945310905e-05, + 0.00020064796930682088, + -0.12427545031117142, + -0.8618554357645105, + 0.1816918757092553, + -2.401316746165904, + 0.02775958611442582, + 1.6830984904775967, + 0.8928829228131209, + 0.03159726892682411, + 0.03162486356235627, + -0.031017455856373638, + 0.002508215213755306, + 0.05353520956798244, + 0.03303509638083577, + 0.010806950796814872, + -0.01864981365952644, + 0.029437254045940633, + -0.0007823704049371165, + -0.0006252453468908712 + ], + "state_std": [ + 0.818638991834627, + 0.4681543056079866, + 0.8115149172200602, + 0.36100343409521357, + 0.37258358451627105, + 0.6598580391525808, + 0.3128185862219873, + 0.010460022185022011, + 0.010486868241140848, + 0.4109253879289648, + 0.27546467631179516, + 0.4059769170227095, + 0.17594775172884375, + 0.3567643465246299, + 0.2509722485603775, + 0.3043480312604436, + 0.012373864431462872, + 0.01248151569329555, + 0.24817053980801745, + 0.2202159815509522, + 0.5079403485150724, + 0.4126590204416939, + 0.13062478519427873, + 0.412318572244558, + 0.34462936925093224, + 0.010540373429043272, + 0.010508850029048927, + 0.1286657256972387, + 0.18486962408990848, + 0.1599487315677194, + 0.13672262986500103, + 0.11117128297864866, + 0.20566210457375358, + 0.12145826131824031, + 0.015406228321203233, + 0.015519311542032867 + ], + "action_mean": [ + -3.0508303099866006e-10, + -8.752323861588654e-09, + -2.554222351898463e-09, + -6.679888465246064e-10, + 0.0, + 0.0, + 0.21035526168329038, + -0.020404841372194036, + -0.002670762527520702, + -0.00032595123636018506, + -0.0006598980487174522, + 0.002845899472986919, + 0.0025523259983620647, + 0.2179760170346296 + ], + "action_std": [ + 0.02739007707852874, + 0.07866912679592272, + 0.061617290208388124, + 0.023517080621666134, + 0.0001, + 0.0001, + 0.9776250170091572, + 0.049333121800103547, + 0.027037609739875543, + 0.04209853213662333, + 0.021427686709238426, + 0.013155981733043477, + 0.011808973370319973, + 0.9759541310931158 + ], + "state_norm_policy": "continuous_only", + "state_fields": [ + { + "path": "obs/agent/panda-0/qpos", + "dtype": "float32", + "kind": "continuous", + "dim": 9, + "slice": [ + 0, + 9 + ] + }, + { + "path": "obs/agent/panda-0/qvel", + "dtype": "float32", + "kind": "continuous", + "dim": 9, + "slice": [ + 9, + 18 + ] + }, + { + "path": "obs/agent/panda-1/qpos", + "dtype": "float32", + "kind": "continuous", + "dim": 9, + "slice": [ + 18, + 27 + ] + }, + { + "path": "obs/agent/panda-1/qvel", + "dtype": "float32", + "kind": "continuous", + "dim": 9, + "slice": [ + 27, + 36 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 9 + ], + [ + 9, + 18 + ], + [ + 18, + 27 + ], + [ + 27, + 36 + ] + ], + "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)." +} \ No newline at end of file diff --git a/DualArmButtonPress-v1/norm_stats.json b/DualArmButtonPress-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..d11e2d6eaa85248d91dd378e3cd3dcbf0ba8c5a5 --- /dev/null +++ b/DualArmButtonPress-v1/norm_stats.json @@ -0,0 +1,290 @@ +{ + "count": 2060, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera_0", + "robot_camera_1", + "top_camera" + ], + "state_dim": 44, + "action_dim": 14, + "state_mean": [ + -0.12760567123746247, + 0.18016664242662672, + -0.186418231445064, + -2.0906826923773125, + 0.0974024224307427, + 2.297384455655385, + 0.4120243168055664, + 0.0004708504367192442, + 0.0006689589682294916, + -0.03432698430501174, + 0.21512678560880233, + -0.015300943897112396, + 0.05241775639808057, + 0.03900816198622424, + 0.18223275079094362, + -0.07688551521655912, + -0.00581626567963447, + -0.006463755603416961, + -0.029249802706215952, + 0.12176648194662035, + -0.05724739440766534, + -2.183258720509057, + 0.026061819610849944, + 2.337322497252122, + 0.6792484312092216, + 0.0005394583488212596, + 0.0005987955122678377, + -0.009535656024962855, + 0.20355492351057905, + -0.002504318500836482, + 0.032508624501736104, + 0.012368019058191654, + 0.1938149029208184, + -0.02218604786328232, + -0.0060752049359869545, + -0.006242858388139452, + 0.0, + 0.0, + 0.0055793607867299115, + 0.0, + 0.005535559558936336, + 0.0, + 0.0, + 0.0 + ], + "state_std": [ + 0.09318826907311883, + 0.4960628639574676, + 0.08347784300810443, + 0.23625508768542963, + 0.1303466969358216, + 0.35526151988958915, + 0.20717876676436894, + 0.004451123193841646, + 0.004422072880704736, + 0.026190901761522414, + 0.1508018900318461, + 0.07400107580818535, + 0.10960302840552161, + 0.05647784547719655, + 0.0716621242367475, + 0.06082904174473017, + 0.03945969307421552, + 0.03939524122753614, + 0.053548684710224705, + 0.4596083494664571, + 0.12102059256017103, + 0.1540056345908915, + 0.09621854844723081, + 0.38165342402557867, + 0.20650654225372725, + 0.004439114652795883, + 0.004430346036783656, + 0.02624720269119139, + 0.1303107441797692, + 0.06010523016425392, + 0.07946135505508811, + 0.046757933140401824, + 0.061362567457440974, + 0.05645971532577476, + 0.039372818264893174, + 0.039356963228963274, + 1.0, + 1.0, + 0.00842327058843189, + 1.0, + 0.008349634665282473, + 1.0, + 1.0, + 1.0 + ], + "action_mean": [ + 0.0377992574469123, + -0.033861360348646924, + -0.09967924304378842, + 0.0, + 0.0, + 0.0, + -1.0, + 0.03729461423546365, + -0.00798446505321461, + -0.09963503413408706, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "action_std": [ + 0.057245052975361574, + 0.05070179092470364, + 0.0031030343246418292, + 0.0001, + 0.0001, + 0.0001, + 0.0001, + 0.05831639188332318, + 0.03880680189220521, + 0.0033441136717168455, + 0.0001, + 0.0001, + 0.0001, + 0.0001 + ], + "state_norm_policy": "continuous_only", + "state_fields": [ + { + "path": "obs/agent/panda-0/qpos", + "dtype": "float32", + "kind": "continuous", + "dim": 9, + "slice": [ + 0, + 9 + ] + }, + { + "path": "obs/agent/panda-0/qvel", + "dtype": "float32", + "kind": "continuous", + "dim": 9, + "slice": [ + 9, + 18 + ] + }, + { + "path": "obs/agent/panda-1/qpos", + "dtype": "float32", + "kind": "continuous", + "dim": 9, + "slice": [ + 18, + 27 + ] + }, + { + "path": "obs/agent/panda-1/qvel", + "dtype": "float32", + "kind": "continuous", + "dim": 9, + "slice": [ + 27, + 36 + ] + }, + { + "path": "obs/extra/both_pressed", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 36, + 37 + ] + }, + { + "path": "obs/extra/button1_press_step", + "dtype": "int64", + "kind": "discrete", + "dim": 1, + "slice": [ + 37, + 38 + ] + }, + { + "path": "obs/extra/button1_qpos", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 38, + 39 + ] + }, + { + "path": "obs/extra/button2_press_step", + "dtype": "int64", + "kind": "discrete", + "dim": 1, + "slice": [ + 39, + 40 + ] + }, + { + "path": "obs/extra/button2_qpos", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 40, + 41 + ] + }, + { + "path": "obs/extra/is_button1_pressed", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 41, + 42 + ] + }, + { + "path": "obs/extra/is_button2_pressed", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 42, + 43 + ] + }, + { + "path": "obs/extra/simultaneous_press", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 43, + 44 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 9 + ], + [ + 9, + 18 + ], + [ + 18, + 27 + ], + [ + 27, + 36 + ], + [ + 38, + 39 + ], + [ + 40, + 41 + ] + ], + "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)." +} \ No newline at end of file diff --git a/DualArmCleanupPotEnv-v1/norm_stats.json b/DualArmCleanupPotEnv-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..1df7503cc946fca5280e86a0662a4211e0b86a13 --- /dev/null +++ b/DualArmCleanupPotEnv-v1/norm_stats.json @@ -0,0 +1,270 @@ +{ + "count": 14945, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera_0", + "robot_camera_1", + "top_camera" + ], + "state_dim": 47, + "action_dim": 14, + "state_mean": [ + -0.003968328568402467, + -0.24396154491383368, + 0.007319251323415386, + -2.477866301683328, + 0.0035321221243552687, + 2.1445764976905393, + 0.7798052720593425, + 0.029326231816287778, + 0.02932337000148263, + -0.00013879595412280324, + 0.005962947655613964, + 0.00015550636673398633, + -0.0015424293668515581, + -0.0002645288709079822, + 0.008615769630357996, + 0.0002561194694041045, + 0.00021248665113654405, + 0.00017296377900013885, + 0.019466597527771592, + -0.2728433220436343, + -0.022749497010433873, + -2.464914147907294, + -0.0024774432151611547, + 2.1232496682917166, + 0.7874603188707902, + 0.027873328269806177, + 0.02788299306423328, + 0.0006384907029966239, + 0.004059674019576895, + -0.0003821609078034589, + -0.0038276237252858696, + -0.00011968327463676049, + 0.008827415267096746, + 0.0002277540085545611, + 0.0003488851815055611, + 0.0003698943290627895, + 0.006171159123896189, + -0.33171680926492664, + 0.08242095644037713, + 0.0, + -0.002944981796149963, + 0.0007605399332491746, + -5.9317133119994345e-05, + -0.0023233828145122633, + 0.368203207095038, + 0.08965133675908456, + 0.0 + ], + "state_std": [ + 0.06709114435929278, + 0.46131627749322124, + 0.09338566202161439, + 0.3447051652474309, + 0.049523421695524025, + 0.3436672415477242, + 0.13597619408202272, + 0.012744797548897091, + 0.012743435405909736, + 0.029883386295989064, + 0.2806848621531656, + 0.029990967310372003, + 0.2251290274886106, + 0.03819346667688252, + 0.18144230733309408, + 0.05068774661938597, + 0.019711202346940637, + 0.019737997256671268, + 0.08767318669170487, + 0.465356724265487, + 0.09899522042430423, + 0.35190756216537333, + 0.05259809494917629, + 0.3204982131250898, + 0.12583551380902508, + 0.014309351773002998, + 0.014303975273665212, + 0.030922083892360265, + 0.261551497037249, + 0.0302151444276211, + 0.22966447496917577, + 0.03753498802899173, + 0.16414620940402308, + 0.047363764262129696, + 0.02172246481556883, + 0.021677810552307438, + 0.04276442927351892, + 0.16139759342943866, + 0.10276082916566748, + 1.0, + 0.07255066689504487, + 0.0945652998425726, + 0.0027766034612031728, + 0.05441143183083367, + 0.14901731084527423, + 0.10868616844847229, + 1.0 + ], + "action_mean": [ + 0.00011308668259519156, + -0.004897464649207975, + -0.004825765288576069, + 0.0, + 0.0, + 3.48646323361416e-07, + 0.07152893944463029, + -3.777618093534816e-05, + 0.0033669118289468497, + -0.004117681168827707, + 0.0, + 0.0, + 3.48646323361416e-07, + 0.04891267982602877 + ], + "action_std": [ + 0.026191088155438323, + 0.07648657397778136, + 0.07355108232695319, + 0.0001, + 0.0001, + 0.004887997461728908, + 0.9974385298462892, + 0.028936370246163527, + 0.07275880164245511, + 0.06816157264823836, + 0.0001, + 0.0001, + 0.004887997461728913, + 0.9988030635476826 + ], + "state_norm_policy": "continuous_only", + "state_fields": [ + { + "path": "obs/agent/panda-0/qpos", + "dtype": "float32", + "kind": "continuous", + "dim": 9, + "slice": [ + 0, + 9 + ] + }, + { + "path": "obs/agent/panda-0/qvel", + "dtype": "float32", + "kind": "continuous", + "dim": 9, + "slice": [ + 9, + 18 + ] + }, + { + "path": "obs/agent/panda-1/qpos", + "dtype": "float32", + "kind": "continuous", + "dim": 9, + "slice": [ + 18, + 27 + ] + }, + { + "path": "obs/agent/panda-1/qvel", + "dtype": "float32", + "kind": "continuous", + "dim": 9, + "slice": [ + 27, + 36 + ] + }, + { + "path": "obs/extra/left_cube_pos", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 36, + 39 + ] + }, + { + "path": "obs/extra/left_in", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 39, + 40 + ] + }, + { + "path": "obs/extra/pot_pos", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 40, + 43 + ] + }, + { + "path": "obs/extra/right_cube_pos", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 43, + 46 + ] + }, + { + "path": "obs/extra/right_in", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 46, + 47 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 9 + ], + [ + 9, + 18 + ], + [ + 18, + 27 + ], + [ + 27, + 36 + ], + [ + 36, + 39 + ], + [ + 40, + 43 + ], + [ + 43, + 46 + ] + ], + "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)." +} \ No newline at end of file diff --git a/DualArmClothAlign-v1/norm_stats.json b/DualArmClothAlign-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a97c0d11c9c5c9cf6f7da179dc80bae29b79c6b2 --- /dev/null +++ b/DualArmClothAlign-v1/norm_stats.json @@ -0,0 +1,230 @@ +{ + "count": 3235, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera_0", + "robot_camera_1", + "top_camera" + ], + "state_dim": 39, + "action_dim": 14, + "state_mean": [ + 0.07934432261868327, + 0.3552870931676726, + -0.16275314350009332, + -2.1043393405180253, + 0.12340486256148052, + 2.4463562246820842, + 0.6143297656909944, + 0.021604270736797406, + 0.021604344545748822, + 0.0365971077219807, + 0.09257275656625946, + -0.008472468425039573, + 0.004301405771011269, + 0.006431224949362062, + 0.08054273538418336, + 0.01866955490717122, + 0.00013212546032686332, + 0.0001338806151987305, + -0.1568870160374504, + 0.38618759035422157, + 0.07596323862966559, + -2.036182768120095, + -0.05021963724834965, + 2.414085222948832, + 0.7455629462344571, + 0.021604307756324895, + 0.021604162259643175, + -0.04277803917156715, + 0.10697299777278502, + -0.0011831916236253125, + 0.02968541794374971, + -0.001961493165360859, + 0.07079711567675474, + -0.03650862529686194, + 0.00013222742158931788, + 0.00013006209656095405, + 67.09684289597101, + 0.16828366033560158, + 0.0 + ], + "state_std": [ + 0.22615362182572685, + 0.3781548944921374, + 0.0661543332903399, + 0.1981655660309009, + 0.08759318131638898, + 0.2774999170705575, + 0.2791356893992899, + 0.019600188571923235, + 0.019599887092012783, + 0.09374379217309142, + 0.2547609155627533, + 0.07292193536685102, + 0.15778941471120372, + 0.06390033694186467, + 0.15492059710339867, + 0.14206198096939665, + 0.038799889066593284, + 0.03879969274630692, + 0.22720605403916683, + 0.4050318976939964, + 0.06384811127960578, + 0.2343795234342731, + 0.06132056439448602, + 0.26051206676655364, + 0.28594963990446787, + 0.019599423748441182, + 0.019599665455900177, + 0.0832040276119993, + 0.23134909685481303, + 0.054851180448854175, + 0.147891905727644, + 0.043161640581697816, + 0.1669963785888932, + 0.11709267513485197, + 0.038799812265442865, + 0.03879988523799559, + 15.953249435858114, + 0.33144402645163773, + 1.0 + ], + "action_mean": [ + 0.0164261464565025, + -0.022483864256110295, + -0.03935407022420184, + 0.0, + 0.0, + 0.0, + 0.09057187017001546, + 0.03004687858581359, + 0.026504595074252055, + -0.039082500880938224, + 0.0, + 0.0, + 0.0, + 0.09057187017001546 + ], + "action_std": [ + 0.09848880395310154, + 0.07162397277729025, + 0.09819801604428928, + 0.0001, + 0.0001, + 0.0001, + 0.9958899268161645, + 0.08555453465211685, + 0.0713714775720616, + 0.0982457646146658, + 0.0001, + 0.0001, + 0.0001, + 0.9958899268161645 + ], + "state_norm_policy": "continuous_only", + "state_fields": [ + { + "path": "obs/agent/panda-0/qpos", + "dtype": "float32", + "kind": "continuous", + "dim": 9, + "slice": [ + 0, + 9 + ] + }, + { + "path": "obs/agent/panda-0/qvel", + "dtype": "float32", + "kind": "continuous", + "dim": 9, + "slice": [ + 9, + 18 + ] + }, + { + "path": "obs/agent/panda-1/qpos", + "dtype": "float32", + "kind": "continuous", + "dim": 9, + "slice": [ + 18, + 27 + ] + }, + { + "path": "obs/agent/panda-1/qvel", + "dtype": "float32", + "kind": "continuous", + "dim": 9, + "slice": [ + 27, + 36 + ] + }, + { + "path": "obs/extra/angle_err_deg", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 36, + 37 + ] + }, + { + "path": "obs/extra/cover_ratio", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 37, + 38 + ] + }, + { + "path": "obs/extra/settled_on_table", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 38, + 39 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 9 + ], + [ + 9, + 18 + ], + [ + 18, + 27 + ], + [ + 27, + 36 + ], + [ + 36, + 37 + ], + [ + 37, + 38 + ] + ], + "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)." +} \ No newline at end of file diff --git a/DualArmClothCylinderWipe-v1/norm_stats.json b/DualArmClothCylinderWipe-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..e9649e9b67734da171fe0c3a3a4b688fa0c4a407 --- /dev/null +++ b/DualArmClothCylinderWipe-v1/norm_stats.json @@ -0,0 +1,973 @@ +{ + "count": 17559, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera_0", + "robot_camera_1", + "top_camera" + ], + "state_dim": 167, + "action_dim": 44, + "state_mean": [ + 0.5032188496603857, + 0.3612455484938519, + 0.26671827903372525, + -2.1968504819927563, + 2.221256506341867, + 2.0335718686613657, + 1.7872575812839049, + 1.069773966610731, + 1.1424747912697384, + 1.1812566320882618, + 0.702786307420079, + 0.021326311121416214, + -0.00019355744303244994, + -0.0010769283954412292, + 0.28210804933226785, + 1.04301542581293, 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Recomputed 2026-10-15 from HF Linslab/ManiLadder_Dataset raw/DualArmPlugCharger-v1 (09-09 upload); the training-time norm_stats.json was never published." +} \ No newline at end of file diff --git a/DualArmPouringWater-v1/norm_stats.json b/DualArmPouringWater-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..6932f892f9db09a05a52cd64192750d82dcd75fd --- /dev/null +++ b/DualArmPouringWater-v1/norm_stats.json @@ -0,0 +1,330 @@ +{ + "count": 4967, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera_0", + "robot_camera_1", + "top_camera" + ], + "state_dim": 45, + "action_dim": 14, + "state_mean": [ + 0.18955166798712764, + 0.20688775523804492, + 0.036047647548543796, + -2.248079008467605, + -0.473361374135045, + 1.9154469405162349, + 1.1977601813488812, + 0.015791724319358828, + 0.01579581276096069, + 0.03541689531371726, + 0.09805483481135095, + -0.0045760572853750245, + 0.028673322785036367, + 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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": [ + 240, + 320 + ], + "record_hw_by_camera": { + "front_camera": [ + 240, + 320 + ], + "left_camera": [ + 240, + 320 + ], + "robot_camera_0": [ + 240, + 320 + ], + "robot_camera_1": [ + 240, + 320 + ], + "top_camera": [ + 320, + 240 + ] + }, + "resize_mode": "area" + } +} \ No newline at end of file diff --git a/DualArmSendPingpong-v1/norm_stats.json b/DualArmSendPingpong-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..9bb51f1022479d9adb95be49d52a72fd746637fd --- /dev/null +++ b/DualArmSendPingpong-v1/norm_stats.json @@ -0,0 +1,522 @@ +{ + "count": 11453, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera_0", + 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All stats computed over aligned length T (drop last obs to align with actions)." +} \ No newline at end of file diff --git a/OpenBoxRetrieval-v1/norm_stats.json b/OpenBoxRetrieval-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a78059430a1f2a6ca04a99296335d57835bcbd21 --- /dev/null +++ b/OpenBoxRetrieval-v1/norm_stats.json @@ -0,0 +1,199 @@ +{ + "count": 12328, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera", + "top_camera" + ], + "state_dim": 29, + "action_dim": 7, + "state_mean": [ + -0.005231988674426901, + -0.27083926464953095, + 0.0017641441001086302, + -2.2539145109968315, + 1.596255884707019e-05, + 1.9856009839186026, + 0.7944301881935129, + 0.03691357803515277, + 0.03691417003720686, + 0.00013529250649289392, + 0.012182800660000282, + -3.4866864592186244e-05, + 0.00350879591925856, + -0.00023298307457640855, + 0.008454263115825476, + -3.554899946465444e-05, + -0.0004194206463652399, + -0.00039113934939193914, + 0.07392786029305629, + 0.0004477634138712592, + 0.13930643394910944, + -0.42168634790467624, + -0.2403893353662887, + -0.16438868749550725, + 0.07544863145160238, + 0.0004063122032487009, + 0.20000000298023224, + 0.5941623224121217, + 0.3939924261240816 + ], + "state_std": [ + 0.2821455981674005, + 0.2832146257013653, + 0.30135273313540245, + 0.21367741721619618, + 0.09869527051845003, + 0.28754828587824105, + 0.7667460411074143, + 0.0073191924120823305, + 0.007323936175874752, + 0.0414586806909116, + 0.10298385448568775, + 0.037077800490794496, + 0.11176914030092652, + 0.03589770955813782, + 0.12650856019840012, + 0.1667657931710247, + 0.013136267130556184, + 0.013159624328221056, + 0.033428229090266354, + 0.05842263455646525, + 0.0640398441525812, + 1.1482470079360565, + 0.611213624391073, + 0.7359397073444309, + 0.033104892523287514, + 0.058274581076299084, + 0.0001, + 0.4066528235277593, + 0.16810471539331243 + ], + "action_mean": [ + 0.005409511538359698, + 1.2613149048348936e-05, + -0.0030165732500374823, + 0.0, + 0.0, + -3.244646261026145e-05, + 0.717715768981181 + ], + "action_std": [ + 0.030024966078494936, + 0.026350618796286293, + 0.05661744666889172, + 0.0001, + 0.0001, + 0.03913415321941068, + 0.6963361867343618 + ], + "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/banana_position", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 18, + 21 + ] + }, + { + "path": "obs/extra/box_lid_angle", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 21, + 22 + ] + }, + { + "path": "obs/extra/box_orientation", + "dtype": "float32", + "kind": "continuous", + "dim": 2, + "slice": [ + 22, + 24 + ] + }, + { + "path": "obs/extra/box_position", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 24, + 27 + ] + }, + { + "path": "obs/extra/task_progress", + "dtype": "float32", + "kind": "continuous", + "dim": 2, + "slice": [ + 27, + 29 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 9 + ], + [ + 9, + 18 + ], + [ + 18, + 21 + ], + [ + 21, + 22 + ], + [ + 22, + 24 + ], + [ + 24, + 27 + ], + [ + 27, + 29 + ] + ], + "notes": "State stats computed ONLY on continuous dims; discrete/bool dims keep raw (mean=0,std=1). 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All stats computed over aligned length T (drop last obs to align with actions)." +} \ No newline at end of file diff --git a/PickPlacePen-v1/norm_stats.json b/PickPlacePen-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..c4a239d19dc437804362ae6f66b0f92d5ec15dad --- /dev/null +++ b/PickPlacePen-v1/norm_stats.json @@ -0,0 +1,191 @@ +{ + "count": 5888, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera", + "top_camera" + ], + "state_dim": 27, + "action_dim": 7, + "state_mean": [ + 0.016242578131907423, + -0.09632511024757956, + -0.08042965901654436, + -2.402961198038057, + -0.010958356718651143, + 2.3557548145763576, + 0.6344901672237078, + 0.023118755947428366, + 0.02312470315953998, + 0.0027042047150861686, + 0.04026256837768882, + -0.0022374453570644845, + 0.0225078027981335, + 3.281693594113744e-05, + -0.011970258804804235, + -0.00509405822897525, + -0.00037703728298556243, + -0.0003691264522894854, + 0.10565919790583986, + 0.002564894771991101, + 0.0, + 0.0, + 0.027017346278596407, + -0.031797096184091524, + 0.15474625644001996, + 0.2453870145636756, + 0.2736981098297174 + ], + "state_std": [ + 0.15966624512592834, + 0.32651153477178435, + 0.3070918921433205, + 0.1996474119466195, + 0.19058085307574893, + 0.3828569142480907, + 0.4874577289143576, + 0.016042304624828377, + 0.016046033727158095, + 0.0736164030909918, + 0.16458493412132713, + 0.10428378481120361, + 0.16276578117419352, + 0.13577641538728985, + 0.41554715526792907, + 0.13985320196804543, + 0.025150944967900237, + 0.025135066271202124, + 0.05829947004052613, + 0.05569227735679982, + 0.0001, + 1.0, + 0.08891974943274167, + 0.20909747844731036, + 0.14586811129004693, + 0.1287078099090324, + 0.3742762480377996 + ], + "action_mean": [ + 0.012444148013104414, + 0.0001542943283983849, + -0.008399465948889925, + 0.0, + -0.00557065225692223, + -0.001207651024717803, + -0.04585597826086956 + ], + "action_std": [ + 0.031166141741874036, + 0.05560802146088668, + 0.07472625915556573, + 0.0001, + 0.057070319866675455, + 0.01284821542647073, + 0.9989480663466641 + ], + "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/holder_pos", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 18, + 21 + ] + }, + { + "path": "obs/extra/is_pen_placed", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 21, + 22 + ] + }, + { + "path": "obs/extra/pen_pos", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 22, + 25 + ] + }, + { + "path": "obs/extra/pen_xy_distance", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 25, + 26 + ] + }, + { + "path": "obs/extra/placement_progress", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 26, + 27 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 9 + ], + [ + 9, + 18 + ], + [ + 18, + 21 + ], + [ + 22, + 25 + ], + [ + 25, + 26 + ], + [ + 26, + 27 + ] + ], + "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)." +} \ No newline at end of file diff --git a/PingPongBallTransport-v1/norm_stats.json b/PingPongBallTransport-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..4ca4813745a3f4d9132ce33245f48515ff8338d0 --- /dev/null +++ b/PingPongBallTransport-v1/norm_stats.json @@ -0,0 +1,219 @@ +{ + "count": 22080, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera", + "top_camera" + ], + "state_dim": 26, + "action_dim": 7, + "state_mean": [ + -0.01798766688377134, + -0.049277616218755024, + 0.04708878926759277, + -2.426440851584725, + 0.009427921382880547, + 2.292042138103558, + 0.8036575950763147, + 0.036295776113790146, + 0.0362902595217009, + -0.0005503616129879464, + 0.016906670983614557, + 0.0004217650511150016, + 0.005358223062945287, + -0.00033275087284717023, + 0.004602158567405216, + -0.0001638378815989664, + -0.00013871433428785633, + 8.440138986629767e-06, + 0.1842342196599297, + 0.10229593730140207, + 1.9039855072463767, + 0.0, + 0.0, + 0.0, + 0.0, + 0.749245200333172 + ], + "state_std": [ + 0.07885070502640627, + 0.2513291682686254, + 0.08613897538658515, + 0.28827347789879465, + 0.06745041540123353, + 0.24683197101558335, + 0.10812712872113256, + 0.004075221507418724, + 0.004082419156655293, + 0.05795869160663451, + 0.16623980260041182, + 0.060565914794826786, + 0.21115917459576047, + 0.04510149710568625, + 0.24202760478572685, + 0.07509785248339355, + 0.005382763589585, + 0.005445887657433019, + 0.06985095903094037, + 0.060112691199313596, + 1.5661218818854405, + 1.0, + 1.0, + 1.0, + 1.0, + 0.16284707354266742 + ], + "action_mean": [ + 0.004927690141409149, + -5.63419009861012e-05, + -0.005818186761757387, + 0.0, + -0.0011382582664921663, + 0.0, + 0.21829710144927536 + ], + "action_std": [ + 0.06356118088872566, + 0.04276661344116614, + 0.042884904051172255, + 0.0001, + 0.03586159791917546, + 0.0001, + 0.9283680956597973 + ], + "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/ball_height", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 18, + 19 + ] + }, + { + "path": "obs/extra/ball_to_current_cup_distance", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 19, + 20 + ] + }, + { + "path": "obs/extra/current_cup_index", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 20, + 21 + ] + }, + { + "path": "obs/extra/is_ball_at_sufficient_height", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 21, + 22 + ] + }, + { + "path": "obs/extra/is_ball_in_current_cup", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 22, + 23 + ] + }, + { + "path": "obs/extra/is_success", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 23, + 24 + ] + }, + { + "path": "obs/extra/is_transport_complete", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 24, + 25 + ] + }, + { + "path": "obs/extra/transport_progress", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 25, + 26 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 9 + ], + [ + 9, + 18 + ], + [ + 18, + 19 + ], + [ + 19, + 20 + ], + [ + 20, + 21 + ], + [ + 25, + 26 + ] + ], + "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)." +} \ No newline at end of file diff --git a/PivotBook-v1/norm_stats.json b/PivotBook-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..885dd7eda75db7c85262e385b024ba48561168ce --- /dev/null +++ b/PivotBook-v1/norm_stats.json @@ -0,0 +1,267 @@ +{ + "count": 7180, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera", + "top_camera" + ], + "state_dim": 34, + "action_dim": 7, + "state_mean": [ + -0.006324044913432957, + 0.022928579225412977, + -0.013273841821555978, + -2.275540063764723, + 0.02873378815851674, + 2.3124327296666123, + 0.7402211466371652, + 0.0001398925491131447, + 1.5358957161703766e-05, + 0.0020446722105675577, + 0.03927021769015782, + 0.0032815437523955188, + 0.023148354673033965, + 0.011750379225184527, + 0.021606451930908183, + -0.005059967664612145, + -0.0018060100933806793, + -0.0016973975550638916, + -88.28822851154463, + -10.154506510405822, + -13.29796655955089, + 0.0833861257388066, + 0.010437835267102326, + 0.16935999942606206, + 0.20372192753598214, + 0.09092109273200787, + 0.0, + 0.0, + 0.0, + 0.9936348803030084, + 0.25041802256552287, + 0.09585549333042007, + 0.031493940333054915, + 0.15000000596046448 + ], + "state_std": [ + 0.29644114069742766, + 0.5231677131922232, + 0.26893832448276267, + 0.6429895295038951, + 0.32398737023265645, + 0.3400273265960324, + 0.37264101503607366, + 0.002482276209803401, + 0.0025168384438311745, + 0.21103515691562785, + 0.2278664789053809, + 0.21489933005684403, + 0.20862848942459106, + 0.21272929563310974, + 0.23028444102319204, + 0.23376075745581507, + 0.021535598671793825, + 0.02157366040337899, + 19.33025693974106, + 26.704868922823344, + 93.07731105095766, + 0.16569563751978067, + 0.16168353990292325, + 0.012128459967825175, + 0.09741066984960157, + 0.07734237118742454, + 1.0, + 1.0, + 1.0, + 0.003355856281397254, + 0.3094056366985495, + 0.19590827683032508, + 0.32864236444745615, + 0.0001 + ], + "action_mean": [ + 0.004544039816948051, + 0.002419552050087027, + -0.01678203004510447, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "action_std": [ + 0.06456738003805179, + 0.07888870520273258, + 0.05898974304037685, + 0.0001, + 0.0001, + 0.0001, + 0.0001 + ], + "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/book_orientation", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 18, + 21 + ] + }, + { + "path": "obs/extra/book_pos", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 21, + 24 + ] + }, + { + "path": "obs/extra/distance_to_wall", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 24, + 25 + ] + }, + { + "path": "obs/extra/distance_to_wall_x", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 25, + 26 + ] + }, + { + "path": "obs/extra/is_at_wall", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 26, + 27 + ] + }, + { + "path": "obs/extra/is_upright", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 27, + 28 + ] + }, + { + "path": "obs/extra/is_wall_x_aligned", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 28, + 29 + ] + }, + { + "path": "obs/extra/pivot_progress", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 29, + 30 + ] + }, + { + "path": "obs/extra/push_progress", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 30, + 31 + ] + }, + { + "path": "obs/extra/wall_pos", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 31, + 34 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 9 + ], + [ + 9, + 18 + ], + [ + 18, + 21 + ], + [ + 21, + 24 + ], + [ + 24, + 25 + ], + [ + 25, + 26 + ], + [ + 29, + 30 + ], + [ + 30, + 31 + ], + [ + 31, + 34 + ] + ], + "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)." +} \ No newline at end of file diff --git a/PushSoccer-v1/norm_stats.json b/PushSoccer-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..14f31b569371472d48b08a889ac6ec0f9b1727fc --- /dev/null +++ b/PushSoccer-v1/norm_stats.json @@ -0,0 +1,225 @@ +{ + "count": 3444, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera", + "top_camera" + ], + "state_dim": 30, + "action_dim": 7, + "state_mean": [ + 0.030995558747354508, + -0.11547659170018928, + -0.0238580280688444, + -2.4421912699626303, + -0.0784715613423205, + 2.340520652017527, + -0.8203013484377326, + 0.040111191959080306, + 0.04011595729439931, + 0.0027126646684555566, + 0.09590328666376172, + -0.002647790465741896, + 0.02819358483167292, + -0.008419593678735873, + 0.06899581328951236, + -0.007796927783782388, + -0.00021601516081614597, + -0.00032084330774621595, + 0.049904065317873586, + 0.015617370694334092, + 0.06984866252136561, + 0.19789332418825953, + 0.20664744576683722, + 0.0015844157653558781, + 0.0, + 0.10000000149011612, + 0.0, + 0.3176511647947712, + 0.8949821789194068, + 0.027055262991429484 + ], + "state_std": [ + 0.3362551868235306, + 0.5776387694250233, + 0.3841232589886791, + 0.2971372010198297, + 0.31411290129625763, + 0.429206035511396, + 0.661606350513764, + 0.00025003040684852166, + 0.0002586084755392286, + 0.12437694131963416, + 0.1579072519707207, + 0.08840984422841021, + 0.14832241231772522, + 0.09104122138651843, + 0.15911278752419186, + 0.2198746870113559, + 0.0007216046056354268, + 0.0008392511853408726, + 0.12479346381127973, + 0.22422351742772917, + 0.007070443857517161, + 0.13248123984137689, + 0.09053005831073693, + 0.25196862545928306, + 0.0001, + 0.0001, + 1.0, + 0.40849182675486084, + 0.13982513691729984, + 0.4227574361319041 + ], + "action_mean": [ + 0.026996007920367236, + -0.0006915246426916399, + -0.03607683965909328, + 0.0, + 0.0, + -0.0027718828701576437, + 1.0 + ], + "action_std": [ + 0.05168861174051524, + 0.07291888101933612, + 0.057324303961573904, + 0.0001, + 0.0001, + 0.0557523842600216, + 0.0001 + ], + "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/ball_pos", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 18, + 21 + ] + }, + { + "path": "obs/extra/distance_to_goal", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 21, + 22 + ] + }, + { + "path": "obs/extra/gate_pos", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 22, + 25 + ] + }, + { + "path": "obs/extra/goal_half_width", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 25, + 26 + ] + }, + { + "path": "obs/extra/goal_scored", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 26, + 27 + ] + }, + { + "path": "obs/extra/progress", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 27, + 28 + ] + }, + { + "path": "obs/extra/push_dir", + "dtype": "float32", + "kind": "continuous", + "dim": 2, + "slice": [ + 28, + 30 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 9 + ], + [ + 9, + 18 + ], + [ + 18, + 21 + ], + [ + 21, + 22 + ], + [ + 22, + 25 + ], + [ + 25, + 26 + ], + [ + 27, + 28 + ], + [ + 28, + 30 + ] + ], + "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)." +} \ No newline at end of file diff --git a/PushTargetPose-v1/norm_stats.json b/PushTargetPose-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..06d0869e6e59ec62a9f15b1ce121e45e5034cbcf --- /dev/null +++ b/PushTargetPose-v1/norm_stats.json @@ -0,0 +1,267 @@ +{ + "count": 18088, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera", + "top_camera" + ], + "state_dim": 37, + "action_dim": 7, + "state_mean": [ + 0.4167175906974779, + -0.13390692523279, + 0.21173752481929978, + -2.145105039101953, + -0.016602526142274737, + 2.2713533227769793, + 0.35584290307326694, + -4.7262353955033105e-05, + -4.3887648667233387e-05, + -0.03713126173216764, + 0.0029496986718452784, + 0.04301407122368689, + 0.019615662154671993, + 0.00633751417028428, + -0.00033533902836091803, + 0.009480005062700065, + -0.0006775586142455434, + -0.0007147924195113326, + -0.0001389487368760622, + 0.3501340955204607, + 0.20849592560281907, + 0.6322327182409491, + -0.3645194041029498, + -0.30641856911405435, + 0.4047671277359521, + 0.361939870642415, + 0.17637751486452277, + 0.0, + 1.405542643280853, + 0.4336414774933361, + -0.0314635171609097, + 0.5587504534450374, + 0.44999998807907104, + 0.9005313069649842, + 0.0, + 0.0, + 0.15223601438090273 + ], + "state_std": [ + 0.8478310728188903, + 0.5241110085480509, + 1.0007374496507315, + 0.47036002356179984, + 0.22208823862928895, + 0.3531648800069848, + 1.0698040629405143, + 0.001517730229731029, + 0.0015175459988832412, + 0.28741779694582154, + 0.2920391129062454, + 0.31195329126835536, + 0.21431230763317333, + 0.32800486270543316, + 0.36449429387026194, + 0.6233620632110521, + 0.014114762273627443, + 0.014115021143788797, + 0.07104444003283454, + 0.2064282202439925, + 0.020772575645657414, + 0.21988393021783983, + 0.23772357411426367, + 0.21517644939285976, + 0.2419012962645735, + 0.14034041298714037, + 0.07992295831430539, + 1.0, + 0.46756812583705903, + 0.21645923185173316, + 0.025816154733060002, + 0.026107885737624233, + 0.0001, + 0.06245251086520653, + 0.0001, + 0.0001, + 0.4024515521897354 + ], + "action_mean": [ + 0.003681394747973321, + 0.011635876665190885, + -0.005361679193391994, + -0.007896323324850836, + -0.0023219057402667467, + -0.002236821408796403, + -1.0 + ], + "action_std": [ + 0.05608053089304327, + 0.04089568467770317, + 0.05144525570682225, + 0.0616909756816283, + 0.065711534263621, + 0.10647789194435928, + 0.0001 + ], + "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/cup_pos", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 18, + 21 + ] + }, + { + "path": "obs/extra/cup_quat", + "dtype": "float32", + "kind": "continuous", + "dim": 4, + "slice": [ + 21, + 25 + ] + }, + { + "path": "obs/extra/distance_to_goal", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 25, + 26 + ] + }, + { + "path": "obs/extra/hand_object_distance", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 26, + 27 + ] + }, + { + "path": "obs/extra/is_success", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 27, + 28 + ] + }, + { + "path": "obs/extra/orientation_distance", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 28, + 29 + ] + }, + { + "path": "obs/extra/progress", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 29, + 30 + ] + }, + { + "path": "obs/extra/target_pos", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 30, + 33 + ] + }, + { + "path": "obs/extra/target_quat", + "dtype": "float32", + "kind": "continuous", + "dim": 4, + "slice": [ + 33, + 37 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 9 + ], + [ + 9, + 18 + ], + [ + 18, + 21 + ], + [ + 21, + 25 + ], + [ + 25, + 26 + ], + [ + 26, + 27 + ], + [ + 28, + 29 + ], + [ + 29, + 30 + ], + [ + 30, + 33 + ], + [ + 33, + 37 + ] + ], + "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)." +} \ No newline at end of file diff --git a/ReorientCube-v1/norm_stats.json b/ReorientCube-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..ea33896e0426b40ef6643401944fa2ec719fca63 --- /dev/null +++ b/ReorientCube-v1/norm_stats.json @@ -0,0 +1,249 @@ +{ + "count": 4180, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera", + "top_camera" + ], + "state_dim": 50, + "action_dim": 22, + "state_mean": [ + -0.05770589650228301, + 0.32192324760503066, + -0.13549083597257924, + -1.9787919766880104, + -0.02509380296710657, + 2.2001441054366992, + 0.12627868610536597, + 5.412026781253082e-05, + 6.510688741259131e-05, + -0.0016294212791851418, + 8.564438754170907e-05, + -2.444051038862238e-05, + -2.3750099808482264e-05, + -2.30382390280425e-05, + 3.368281699567213e-06, + 5.857414443715307e-06, + 7.201799328947962e-06, + 8.451822779109348e-06, + 5.371516304806831e-06, + -8.370801382351893e-08, + -8.39095190853586e-08, + -8.839980081052892e-08, + -3.065409103166259e-07, + -0.001921968891424006, + 0.04348210299328947, + -0.012580368646364805, + 0.05731554890588772, + -0.0014175175151287512, + -0.025420307263622127, + 0.026283960371520382, + 3.6802566576878e-05, + 4.577567875577176e-05, + 7.409905933487586e-05, + 5.0543371012299225e-05, + -1.4355283320926506e-05, + -1.3996429128826128e-05, + -1.3629699681403806e-05, + 2.234431841651215e-07, + 4.1451657566987e-06, + 5.248506220458067e-06, + 6.2965046294112035e-06, + -1.0956147530445293e-07, + -4.307426593824556e-08, + -4.314233843993497e-08, + -4.567151974051466e-08, + -2.0194694201877213e-07, + 0.0, + 1.3573104230973327, + 0.0, + 2.744008396516006 + ], + "state_std": [ + 0.05898227087576788, + 0.20201430843271548, + 0.06938762001884743, + 0.3042469087277041, + 0.03624333319664082, + 0.15656000265855505, + 0.20685900540268715, + 0.00011737905456733763, + 0.00011865672998005657, + 0.0016535566732992326, + 0.00012269204280332028, + 0.00010121825193265946, + 0.00010118954095967484, + 0.00010116289400681106, + 0.00010009142563319092, + 0.00010029391046881126, + 0.00010031100573909448, + 0.0001003410064795199, + 0.00010033306491909339, + 0.00010000002071690377, + 0.00010000002081362135, + 0.00010000002248416788, + 0.0001000003164127693, + 0.035523595897114194, + 0.10891410782732734, + 0.03136857616840689, + 0.16854101428904683, + 0.017179953141536045, + 0.08490612897780225, + 0.07717028312217931, + 0.0002409736225104372, + 0.00024468445443688423, + 0.0026389055537551797, + 0.00025195813472078763, + 0.00011510115965069724, + 0.00011492343431888119, + 0.00011474685682158715, + 0.00010266067034071678, + 0.0001038831869353078, + 0.00010399833573965463, + 0.00010413514396052635, + 0.0001085509974023309, + 0.00010000011005498924, + 0.00010000011025095673, + 0.00010000013206390123, + 0.00010000107820988374, + 1.0, + 0.9099787565302676, + 1.0, + 0.6829719938010371 + ], + "action_mean": [ + 0.027881689588918075, + 0.02335310392076168, + -0.003245358047873209, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "action_std": [ + 0.06805883296913219, + 0.06354428920823776, + 0.017734426994420637, + 0.0001, + 0.0001, + 0.0001, + 0.0001, + 0.0001, + 0.0001, + 0.0001, + 0.0001, + 0.0001, + 0.0001, + 0.0001, + 0.0001, + 0.0001, + 0.0001, + 0.0001, + 0.0001, + 0.0001, + 0.0001, + 0.0001 + ], + "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/is_reoriented", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 46, + 47 + ] + }, + { + "path": "obs/extra/rotational_distance", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 47, + 48 + ] + }, + { + "path": "obs/extra/success_steps", + "dtype": "int32", + "kind": "discrete", + "dim": 1, + "slice": [ + 48, + 49 + ] + }, + { + "path": "obs/extra/target_rotation_angle", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 49, + 50 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 23 + ], + [ + 23, + 46 + ], + [ + 47, + 48 + ], + [ + 49, + 50 + ] + ], + "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)." +} \ No newline at end of file diff --git a/ReorientPen-v1/norm_stats.json b/ReorientPen-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a40aebf5fa31d594713479aed1bd06a14005d2ed --- /dev/null +++ b/ReorientPen-v1/norm_stats.json @@ -0,0 +1,273 @@ +{ + "count": 5964, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera", + "top_camera" + ], + "state_dim": 55, + "action_dim": 22, + "state_mean": [ + 0.1699840631443405, + 0.16597571615900072, + 0.14803389717317875, + -2.216174646662355, + -1.3907393813483035, + 1.5871903929786941, + -0.977826769460907, + 0.4485800531700855, + 0.3491581651122043, + 0.10004051919308488, + 1.523856853177561, + -0.2514402205383273, + 0.010085684717951297, + -0.4623810261649757, + -0.01098816648853349, + 0.6959945890715131, + 0.5997474607009193, + 0.8516919214397578, + 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All stats computed over aligned length T (drop last obs to align with actions)." +} \ No newline at end of file diff --git a/ScoopWater-v1/norm_stats.json b/ScoopWater-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..5440a1cf17d3b6aa00881d60a936acb699c5d0a2 --- /dev/null +++ b/ScoopWater-v1/norm_stats.json @@ -0,0 +1,139 @@ +{ + "count": 7187, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera", + "top_camera" + ], + "state_dim": 20, + "action_dim": 7, + "state_mean": [ + -0.29699973607148084, + -0.7729396789253855, + 0.270661457066066, + -2.3326430231295454, + -0.12315557807019374, + 3.163116975040948, + 0.8109527870649772, + 0.011896134327468354, + 0.011907518443076706, + -0.039383341500382585, + -0.018900071708110255, + 0.03447666852284244, + 0.022848319531435336, + -0.039943164377858956, + -0.011209405128694765, + 0.00259195899707059, + -0.0012305786999925988, + -0.0011064864630023015, + 0.09047830864182334, + 0.006699339629055553 + ], + "state_std": [ + 0.8563672636707496, + 0.3260052027612214, + 1.0992534149933162, + 0.3133467587356182, + 0.3960667369107666, + 0.32958293008047407, + 0.5966542047829578, + 0.014716898562762122, + 0.01471256900246224, + 0.8420361891685353, + 0.29474664280581747, + 0.8223177655636977, + 0.26076335659024535, + 0.8094239661237864, + 0.4480694247560234, + 0.6494036333053673, + 0.02066898265163265, + 0.020775264426471016, + 0.2561365272408285, + 0.02202155825667445 + ], + "action_mean": [ + 0.005555911986663972, + 0.007708025896405749, + -0.0013219746218713583, + 0.020620565216133587, + 0.0, + 0.0, + -0.5797968554334216 + ], + "action_std": [ + 0.04180320689822787, + 0.10316987717047355, + 0.09514730992353307, + 0.08592639714246915, + 0.0001, + 0.0001, + 0.8147610793536444 + ], + "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/poured_ratio", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 18, + 19 + ] + }, + { + "path": "obs/extra/spill_ratio", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 19, + 20 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 9 + ], + [ + 9, + 18 + ], + [ + 18, + 19 + ], + [ + 19, + 20 + ] + ], + "notes": "State stats computed ONLY on continuous dims; discrete/bool dims keep raw (mean=0,std=1). 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All stats computed over aligned length T (drop last obs to align with actions)." +} \ No newline at end of file diff --git a/SqueezeClay-v1/norm_stats.json b/SqueezeClay-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..1355defd8326133431bc33b1c0bb49cac64033ad --- /dev/null +++ b/SqueezeClay-v1/norm_stats.json @@ -0,0 +1,257 @@ +{ + "count": 8637, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera", + "top_camera" + ], + "state_dim": 50, + "action_dim": 22, + "state_mean": [ + -0.03280701780585258, + 0.7531689528791856, + 0.0007091748359994325, + -1.4509300828062852, + -1.58427826593882, + 1.5982496247214824, + 0.6445935269507377, + 0.5444385151804672, + 0.5444393929660193, + 0.5444389783479675, + 1.0001269110419262, + 4.7132591375905265e-06, + 4.219554773628645e-06, + 3.525120772842581e-06, + -1.2454331849707205e-05, + 0.5442053025963608, + 0.544204477963694, + 0.5442049690437168, + 0.5442126087140231, + 0.544161052623013, + 0.5441610048076571, + 0.5441604453281756, + 0.5441690382692642, + 0.0019998364313601647, + 0.005286625620219149, + 0.0023118116356911924, + 0.006001196628436861, + 0.001898151880481462, + -0.0023910440538329218, + -0.0003712598515837849, + 0.012285317070809468, + 0.012285276811639236, + 0.012285053432161953, + 6.315075480766722e-06, + -3.1904223504396765e-06, + -3.1525266646147118e-06, + -3.148843735179668e-06, + -1.2699907162096195e-05, + 0.0122348588585009, + 0.012234977085523938, + 0.012235004197990083, + 0.012234299688003223, + 0.012220492419187228, + 0.012220487225336685, + 0.012220415251005423, + 0.012223225060827186, + 154.37246729188374, + 154.7632279726757, + 154.66886650457337, + 0.3600787310408706 + ], + "state_std": [ + 0.15199258361081053, + 0.27948496145656704, + 0.07548921099150246, + 0.41265741244430315, + 0.09090634655445186, + 0.18502588597553593, + 0.17411942186721588, + 0.27108994693990207, + 0.2710877761282357, + 0.2710849205486831, + 0.0001414751182061973, + 0.00010493000195028078, + 0.00010504815213960816, + 0.00010523489683208307, + 0.00010759263899133446, + 0.27106615002869733, + 0.271065384383582, + 0.2710653200960643, + 0.271053911405356, + 0.2710568793747008, + 0.2710568540270124, + 0.27105655769549464, + 0.2710609501608817, + 0.04008761830492324, + 0.12380621812845678, + 0.024458434551190143, + 0.1496993180631449, + 0.03259787402033021, + 0.045613831904043944, + 0.06564475181927559, + 0.04989357913263244, + 0.049893339725859555, + 0.04989312543551624, + 0.00020339478227639844, + 0.00011351101632515204, + 0.0001134732832062649, + 0.00011343446044028296, + 0.00011025689516716293, + 0.04981773825018372, + 0.0498176646052842, + 0.04981761226948365, + 0.049840007975942756, + 0.04979151594926698, + 0.04979151771980853, + 0.049791535401897305, + 0.0498027325204109, + 51.224214983015464, + 51.857575638741174, + 51.78883317538964, + 0.48002296663062594 + ], + "action_mean": [ + 0.0029897887687609045, + 0.0022936240662955964, + -0.0003606216123723079, + 0.0, + 0.0, + 0.0, + -8.865183663648274e-07, + 0.016737978422794956, + 0.01674322308980026, + 0.016744110720762432, + -8.889940863393954e-07, + 0.016737887925456846, + 0.0167432117996302, + 0.016744110720762435, + -8.914025668873243e-07, + 0.016737797272844395, + 0.016743200920074506, + 0.016744110717311893, + -4.961256822447154e-06, + -7.311732706742586e-07, + 0.016742488045210467, + 0.016744002125336915 + ], + "action_std": [ + 0.049632035375873296, + 0.050179118139177005, + 0.04854997046268284, + 0.0001, + 0.0001, + 0.0001, + 0.00010006468068623196, + 0.06775468679687603, + 0.06777528815825709, + 0.06777869409172659, + 0.00010006503826387102, + 0.06775431994731573, + 0.06777524250931898, + 0.06777869409172664, + 0.00010006538692753516, + 0.06775395242722917, + 0.06777519824839992, + 0.0677786940755914, + 0.00010200399666228863, + 0.00010004227843210009, + 0.06777246526994066, + 0.06777832428257664 + ], + "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/cover_aft", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 46, + 47 + ] + }, + { + "path": "obs/extra/cover_deg", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 47, + 48 + ] + }, + { + "path": "obs/extra/cover_fore", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 48, + 49 + ] + }, + { + "path": "obs/extra/plate_clear", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 49, + 50 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 23 + ], + [ + 23, + 46 + ], + [ + 46, + 47 + ], + [ + 47, + 48 + ], + [ + 48, + 49 + ], + [ + 49, + 50 + ] + ], + "notes": "State stats computed ONLY on continuous dims; 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All stats computed over aligned length T (drop last obs to align with actions)." +} \ No newline at end of file diff --git a/Stack6Blocks-v1/norm_stats.json b/Stack6Blocks-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..dfc3f7281658f0983f62c520772ff94c9e3b3a53 --- /dev/null +++ b/Stack6Blocks-v1/norm_stats.json @@ -0,0 +1,318 @@ +{ + "count": 26932, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "right_camera", + "robot_camera", + "top_camera" + ], + "state_dim": 76, + "action_dim": 7, + "state_mean": [ + 0.12929146725770943, + 0.29244084744493043, + -0.10695365089124839, + -2.0070782303367487, + 0.03397914396818937, + 2.268354104834857, + 0.7914825448272448, + 0.031018414548495177, + 0.03101875806415721, + 0.0014484629907247904, + 0.010397578828172493, + -0.0013109434267405177, + 0.003747137790338257, + 0.0002719137738944431, + 0.005987351133112864, + -4.637038757316784e-05, + 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All stats computed over aligned length T (drop last obs to align with actions)." +} \ No newline at end of file diff --git a/StackBlock-v1/norm_stats.json b/StackBlock-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..87347746e87a909407727b3cd16593522bc3370b --- /dev/null +++ b/StackBlock-v1/norm_stats.json @@ -0,0 +1,211 @@ +{ + "count": 4609, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera", + "top_camera" + ], + "state_dim": 30, + "action_dim": 7, + "state_mean": [ + -0.0017633125543160206, + -0.00390556546219702, + 0.007209103170447788, + -2.503143956020303, + -0.0025258157699261843, + 2.4808748628653996, + 0.7935900913774127, + 0.030513760233877873, + 0.030513632259769927, + -0.003463992775500974, + 0.06811653313257118, + -0.0013110496049118527, + -0.001134992537971051, + 0.00043313488486590294, + 0.06623404607029641, + -0.004410893195106609, + 0.0002035584562291399, + 0.00019583425164536525, + 0.09173236348350824, + -0.034818114664742626, + 0.01992988892111351, + 0.10373578060569512, + 0.008637117670668035, + 0.05184148127375986, + 0.1596832876260832, + 0.0, + 0.21167504184803185, + 0.03534264254184606, + 0.0017980746186064137, + 0.26016510565566975 + ], + "state_std": [ + 0.09657060124978896, + 0.4624706298767055, + 0.06543241727325039, + 0.2509140180231776, + 0.03833405848852397, + 0.3170805984273571, + 0.17342680854508005, + 0.011786399478819785, + 0.011786675768155187, + 0.04584160660517363, + 0.15510602931883002, + 0.0404610267744714, + 0.14985371393315486, + 0.025401505664645635, + 0.14578693365042003, + 0.07597406639500777, + 0.025715635554227827, + 0.02571591977126166, + 0.037555572075118664, + 0.10658396134482305, + 0.002252197741904252, + 0.03673973332804232, + 0.09358221656478646, + 0.045606863640368096, + 0.08421578260822694, + 1.0, + 0.3616774040032383, + 0.09099805866769274, + 0.07807503675745112, + 0.1143791013603083 + ], + "action_mean": [ + 0.014754403373244709, + -0.002632534986147267, + -0.028526550435688833, + 0.0, + 0.0, + 0.0, + 0.23410718160121502 + ], + "action_std": [ + 0.039665878538845435, + 0.04361890437536399, + 0.06485985133512083, + 0.0001, + 0.0001, + 0.0001, + 0.9722107989128362 + ], + "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/block_a_pos", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 18, + 21 + ] + }, + { + "path": "obs/extra/block_b_pos", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 21, + 24 + ] + }, + { + "path": "obs/extra/distance_to_goal", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 24, + 25 + ] + }, + { + "path": "obs/extra/is_stacked", + "dtype": "bool", + "kind": "bool", + "dim": 1, + "slice": [ + 25, + 26 + ] + }, + { + "path": "obs/extra/stacking_progress", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 26, + 27 + ] + }, + { + "path": "obs/extra/tcp_pos", + "dtype": "float32", + "kind": "continuous", + "dim": 3, + "slice": [ + 27, + 30 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 9 + ], + [ + 9, + 18 + ], + [ + 18, + 21 + ], + [ + 21, + 24 + ], + [ + 24, + 25 + ], + [ + 26, + 27 + ], + [ + 27, + 30 + ] + ], + "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)." +} \ No newline at end of file diff --git a/StampRoll-v1/norm_stats.json b/StampRoll-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..c887386b370bd36ada4c78fb362d0d2080a38056 --- /dev/null +++ b/StampRoll-v1/norm_stats.json @@ -0,0 +1,290 @@ +{ + "count": 13915, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera", + "top_camera" + ], + "state_dim": 29, + "action_dim": 7, + "state_mean": [ + -0.07242742230728236, + -0.11783326761056337, + 0.07791577211693272, + -2.4139349893233435, + 0.01253677181942232, + 2.387597569038317, + 0.7814335171779817, + 0.025014610547723637, + 0.025039858932958587, + -0.0056089901716689615, + 0.013927723689865962, + -0.004948190537847583, + 0.00018957608704204683, + 0.001881249979136912, + 0.01666337936337983, + -0.011191502285935453, + -0.0003421377237770884, + -0.0003431539072514227, + 0.005196974046533024, + 0.0, + 0.465804571043961, + 0.011110402108245388, + 0.1803808839381962, + 0.4682449924658838, + 0.7075817463169242, + 0.4266618756737334, + 0.13833992094861658, + 0.8316924182536831, + 0.28242903341717573 + ], + "state_std": [ + 0.12360874303819905, + 0.20559457649385315, + 0.14957608804621914, + 0.197995473390906, + 0.050354412253427745, + 0.19672145648949743, + 0.28137945123027847, + 0.05, + 0.05, + 0.2, + 0.2, + 0.2, + 0.2, + 0.2, + 0.2, + 0.2, + 0.2, + 0.2, + 0.05, + 0.05, + 0.2724039530549875, + 0.05, + 0.38450439613594944, + 0.15423514370743138, + 0.45487342041057544, + 0.49459228615123496, + 0.34525642241752297, + 0.37413921162185576, + 0.4501809463984627 + ], + "action_mean": [ + 0.0030661332478949524, + -0.006616554794398398, + -0.007826262662421266, + 0.0, + 0.0, + 0.0, + -0.39346029464606547 + ], + "action_std": [ + 0.03103917023176718, + 0.056325198347870496, + 0.044336630699517085, + 0.0001, + 0.0001, + 0.0001, + 0.9193416157974308 + ], + "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/area", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 18, + 19 + ] + }, + { + "path": "obs/extra/contact_ok", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 19, + 20 + ] + }, + { + "path": "obs/extra/coverage", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 20, + 21 + ] + }, + { + "path": "obs/extra/goal_area", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 21, + 22 + ] + }, + { + "path": "obs/extra/passed", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 22, + 23 + ] + }, + { + "path": "obs/extra/ratio", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 23, + 24 + ] + }, + { + "path": "obs/extra/roller_clear", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 24, + 25 + ] + }, + { + "path": "obs/extra/roller_grasped", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 25, + 26 + ] + }, + { + "path": "obs/extra/stable", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 26, + 27 + ] + }, + { + "path": "obs/extra/stamp_clear", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 27, + 28 + ] + }, + { + "path": "obs/extra/stamp_grasped", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 28, + 29 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 9 + ], + [ + 9, + 18 + ], + [ + 18, + 19 + ], + [ + 19, + 20 + ], + [ + 20, + 21 + ], + [ + 21, + 22 + ], + [ + 22, + 23 + ], + [ + 23, + 24 + ], + [ + 24, + 25 + ], + [ + 25, + 26 + ], + [ + 26, + 27 + ], + [ + 27, + 28 + ], + [ + 28, + 29 + ] + ], + "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_floor": { + "qpos": 0.05, + "qvel": 0.2, + "extra": 0.05, + "note": "see memory fm-state-std-floor" + }, + "_note": "state_std is floored (qpos>=0.05, qvel>=0.2, extra>=0.05); the published checkpoint was trained with exactly these values. Unfloored sample stats: norm_stats_raw_unfloored.json in the run's tune_data dir." +} \ No newline at end of file diff --git a/StraightenRope-v1/norm_stats.json b/StraightenRope-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..bc3c6e3d0cbe4301602dade4464f84bb84dcc937 --- /dev/null +++ b/StraightenRope-v1/norm_stats.json @@ -0,0 +1,155 @@ +{ + "count": 4643, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera", + "top_camera" + ], + "state_dim": 21, + "action_dim": 7, + "state_mean": [ + -8.38407763511578e-05, + -0.10379868523839957, + 0.011491780491700649, + -2.466356256514974, + -0.005062705612425273, + 2.3853525197277436, + 0.8309912611645524, + 0.02736444667416167, + 0.027355695190880994, + 0.0016173220791412782, + 0.051406091975254684, + 0.0024222576131545928, + -0.02490359358535684, + -0.0012386346357300092, + 0.07619684460195814, + 0.007968522291780949, + -0.0013823505412879733, + -0.0013617668905249476, + 0.49981714082565293, + 0.6216483199722213, + 0.6092153542287745 + ], + "state_std": [ + 0.15596176474914286, + 0.4614881475502506, + 0.13276842872841516, + 0.15951112290214978, + 0.08801408883058814, + 0.5414812039996827, + 0.6176196479751203, + 0.01484513467572149, + 0.014854808986738386, + 0.04483122370141102, + 0.17038536782671884, + 0.037504321474148464, + 0.08345896557060195, + 0.035263526531145735, + 0.11555996055355652, + 0.09021821881645548, + 0.01756828952856214, + 0.01750411507643214, + 0.07913615095980334, + 0.009121585453824809, + 0.008939176634359024 + ], + "action_mean": [ + 0.00476557234610665, + 0.00195495184930573, + -0.02986767378579741, + 0.0, + 0.0, + 0.0007322851713685007, + 0.26663794960155063 + ], + "action_std": [ + 0.045669365991511265, + 0.029058198757236642, + 0.058162471444738136, + 0.0001, + 0.0001, + 0.019948008642123816, + 0.8943672616989602 + ], + "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/distance", + "dtype": "float64", + "kind": "continuous", + "dim": 1, + "slice": [ + 18, + 19 + ] + }, + { + "path": "obs/extra/length", + "dtype": "float64", + "kind": "continuous", + "dim": 1, + "slice": [ + 19, + 20 + ] + }, + { + "path": "obs/extra/success_target_distance", + "dtype": "float64", + "kind": "continuous", + "dim": 1, + "slice": [ + 20, + 21 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 9 + ], + [ + 9, + 18 + ], + [ + 18, + 19 + ], + [ + 19, + 20 + ], + [ + 20, + 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)." +} \ No newline at end of file diff --git a/StraightenTwoRopesSequential-v1/norm_stats.json b/StraightenTwoRopesSequential-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..d12f0cd161ec99a5f11c57d74558ef8c3c4db04d --- /dev/null +++ b/StraightenTwoRopesSequential-v1/norm_stats.json @@ -0,0 +1,171 @@ +{ + "count": 7915, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera", + "top_camera" + ], + "state_dim": 22, + "action_dim": 7, + "state_mean": [ + 0.15248882719223525, + 0.44422215534487947, + 0.05625969906157679, + -2.104165721132608, + -0.17618351625785564, + 2.5504032094645788, + 1.1714025933204593, + 0.026412040158977215, + 0.026409941944323598, + 0.0199662098730905, + 0.036015559789801796, + -0.004951687775201444, + -0.006282184959364648, + -0.006413073425110932, + 0.038128566862048255, + 0.03364575019304796, + 0.00030812705177553644, + 0.00030470057719666403, + 11.364357295638717, + 0.7588123815540114, + 0.9418044788432285, + 0.8684262944939614 + ], + "state_std": [ + 0.33311384844276953, + 0.4129066702631452, + 0.25115581699440165, + 0.4458859912568137, + 0.5816031750359411, + 0.3909909704660775, + 1.308676174832529, + 0.0144959078239335, + 0.014498948165300379, + 0.4416658240684079, + 0.40482228323571795, + 0.408145397020832, + 0.39201172845389676, + 0.4161284447666069, + 0.44239426284338684, + 0.49646175574253637, + 0.03552993530517604, + 0.03541210474652769, + 9.58095622955605, + 0.7862183825010169, + 0.06302076313819684, + 0.055904382377038965 + ], + "action_mean": [ + 0.006603939310586949, + 0.007776792796722254, + -0.016602081909483923, + -0.002341654105266249, + -0.002562719964958127, + -0.0020691972740005528, + 0.07833228048010109 + ], + "action_std": [ + 0.10049471548668128, + 0.10555286157161717, + 0.11324593271330764, + 0.056198061714530304, + 0.05694935514537652, + 0.06514576657290408, + 0.9968639432976373 + ], + "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/angle_deg", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 18, + 19 + ] + }, + { + "path": "obs/extra/stage", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 19, + 20 + ] + }, + { + "path": "obs/extra/straightness_A", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 20, + 21 + ] + }, + { + "path": "obs/extra/straightness_B", + "dtype": "float32", + "kind": "continuous", + "dim": 1, + "slice": [ + 21, + 22 + ] + } + ], + "state_norm_slices": [ + [ + 0, + 9 + ], + [ + 9, + 18 + ], + [ + 18, + 19 + ], + [ + 19, + 20 + ], + [ + 20, + 21 + ], + [ + 21, + 22 + ] + ], + "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)." +} \ No newline at end of file diff --git a/TennisRally-v1/norm_stats.json b/TennisRally-v1/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..63658743c7740b59305e95c7720bb190cba99d76 --- /dev/null +++ b/TennisRally-v1/norm_stats.json @@ -0,0 +1,391 @@ +{ + "count": 8536, + "target_image_size": [ + 192, + 256 + ], + "cameras": [ + "front_camera", + "left_camera", + "robot_camera", + "top_camera" + ], + "state_dim": 70, + "action_dim": 23, + "state_mean": [ + 0.11588117104796411, + 0.22449932293477995, + 0.04230491556080716, + -2.3009591132625866, + -1.6036950366287002, + 1.3764233451752097, + -0.56959300405139, + 0.6214500965371245, + 0.6918423662932159, + 0.8164359659523301, + 1.519616443434278, + -0.26762891757543644, + 0.05270732467852929, + -0.011702882921941686, + 0.2093793787069692, + 0.7209822537876254, + 0.7269383640454249, + 0.6909292758421972, + 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