| """ | |
| 归一化常量 - point10_v30 | |
| 从 data/each-point-V30/point10_v30/meta/stats.json 自动生成 | |
| """ | |
| import numpy as np | |
| # ====== 归一化统计量（从 point10_v30 数据集提取）====== | |
| # State 归一化参数 (observation.state) - 14D | |
| STATE_MEAN = np.array([ | |
| 0.03945469130938774, | |
| -0.036684750175496716, | |
| -0.14420977835076654, | |
| 0.07125858545528015, | |
| 0.6045667835144658, | |
| -0.12207297297360067, | |
| 0.0, | |
| 0.14661628825205947, | |
| 1.232220075192642, | |
| -1.0148434059932745, | |
| -0.016941798111343585, | |
| 0.8241991666316403, | |
| 0.14750699481995927, | |
| 0.052436080354416915 | |
| ], dtype=np.float32) | |
| STATE_STD = np.array([ | |
| 0.007826673888420833, | |
| 6.507213128181688e-05, | |
| 7.196581945487117e-08, | |
| 0.00016114506768798135, | |
| 0.0010394814327028597, | |
| 0.00014708015693177227, | |
| 0.0, | |
| 0.28313673258313937, | |
| 0.8379319205720088, | |
| 0.5981789470443272, | |
| 0.08554423150673869, | |
| 0.2096234444893565, | |
| 0.11766143021209088, | |
| 0.027404202199854993 | |
| ], dtype=np.float32) | |
| # Action 反归一化参数 - 14D (left_arm 7D + right_arm 7D) | |
| ACTION_MEAN = np.array([ | |
| 0.04208625927977355, | |
| -0.02820690410301247, | |
| -0.17410934984246795, | |
| 0.06721168250064102, | |
| 0.507706056050683, | |
| -0.12866700771276113, | |
| -0.01789999194443226, | |
| 0.1465567561548079, | |
| 1.2142852250404639, | |
| -1.0358380725229281, | |
| -0.01806039941107697, | |
| 0.7775173290968913, | |
| 0.1473984532134141, | |
| 0.056367664585025117 | |
| ], dtype=np.float32) | |
| ACTION_STD = np.array([ | |
| 0.009659401610150165, | |
| 5.529512395654432e-05, | |
| 7.415110423889358e-08, | |
| 0.0001335096561950502, | |
| 0.001149983840094768, | |
| 6.045416662412333e-05, | |
| 2.8176085110043344e-05, | |
| 0.28605545404572474, | |
| 0.8210758013481333, | |
| 0.6011500108903852, | |
| 0.0947890849009308, | |
| 0.2400083578393412, | |
| 0.1210455335794461, | |
| 0.033073617445561386 | |
| ], dtype=np.float32) | |
| # Image 归一化参数（ImageNet 标准） | |
| IMAGE_MEAN = np.array([0.485, 0.456, 0.406], dtype=np.float32) | |
| IMAGE_STD = np.array([0.229, 0.224, 0.225], dtype=np.float32) | |