File size: 2,218 Bytes
9303a54
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
{
  "action": {
    "constant_dims_std_set_to_1": [],
    "frames": 273465,
    "gripper_range": [
      [
        0.0,
        1.0
      ]
    ],
    "maximum": [
      0.9375,
      0.9375,
      0.9375,
      0.3557142913341522,
      0.375,
      0.375,
      1.0
    ],
    "mean": [
      0.0627815651213653,
      0.08684081061004909,
      -0.09037305956292688,
      0.0005407430027901323,
      0.005643379534648268,
      -0.00522909827704012,
      0.4751796390762986
    ],
    "minimum": [
      -0.9375,
      -0.9375,
      -0.9375,
      -0.2582142949104309,
      -0.375,
      -0.3675000071525574,
      0.0
    ],
    "std": [
      0.3355237157078686,
      0.3784469914406677,
      0.4447285992444575,
      0.03924354084933368,
      0.06339296469692343,
      0.077970278194061,
      1.0
    ]
  },
  "encode_clamp_sigma": 12.0,
  "gripper_indices": [
    6
  ],
  "gripper_mode": "binary_pm1",
  "schema_version": "reswam-zscore-statistics-v1",
  "source": "all 273465 frames of LIBERO (libero_merged_no_noops_20hz)",
  "state": {
    "constant_dims_std_set_to_1": [],
    "frames": 273465,
    "gripper_range": [],
    "maximum": [
      10.0,
      10.0,
      10.0,
      10.0,
      10.0,
      10.0,
      10.0,
      10.0,
      10.0,
      10.0,
      10.0
    ],
    "mean": [
      -0.04651878296410724,
      0.034409066171901814,
      0.7645525131792095,
      0.8181703148644391,
      -0.10989526567785313,
      -0.09393165245571354,
      -0.10768731183110732,
      -0.824290991744381,
      0.0057565976820936615,
      0.026914252831829258,
      -0.027190783688760725
    ],
    "minimum": [
      -10.0,
      -10.0,
      -10.0,
      -10.0,
      -10.0,
      -10.0,
      -10.0,
      -10.0,
      -10.0,
      -10.0,
      -10.0
    ],
    "std": [
      0.10494395469120894,
      0.15176619455037335,
      0.37851671516755425,
      0.334320353280769,
      0.37767816615386324,
      0.23513042192803593,
      0.42739792261560766,
      0.3418015516518157,
      0.09704318840123907,
      0.01417590372954972,
      0.014058894243853348
    ]
  },
  "state_clamp_sigma": 10.0,
  "state_featurization": "xyz_rot6d_fingers2_11d",
  "state_gripper_indices": []
}