| """ | |
| 归一化常量 - point1_v30 | |
| 从 data/each-point-V30/point1_v30/meta/stats.json 自动生成 | |
| """ | |
| import numpy as np | |
| # ====== 归一化统计量（从 point1_v30 数据集提取）====== | |
| # State 归一化参数 (observation.state) - 14D | |
| STATE_MEAN = np.array([ | |
| -0.09762196860431108, | |
| 1.2337136024206918, | |
| -0.9923270292799721, | |
| 0.05592833124572148, | |
| 0.8331612513095673, | |
| -0.036255398000828845, | |
| 0.05881635663632821, | |
| 0.0281259402168327, | |
| -0.024299265685261622, | |
| -0.18725553942362186, | |
| -0.021586281663374743, | |
| 0.6060570740223622, | |
| -0.01889460844828188, | |
| 0.02485340166256719 | |
| ], dtype=np.float32) | |
| STATE_STD = np.array([ | |
| 0.30070223176018124, | |
| 0.8581525143270478, | |
| 0.5713716491712959, | |
| 0.0536020528357504, | |
| 0.19857747515400234, | |
| 0.13798296392826717, | |
| 0.03234785564412015, | |
| 0.005913943080806638, | |
| 0.009138683212383862, | |
| 0.057220981857687904, | |
| 0.017463762164651352, | |
| 0.026474679532916674, | |
| 0.04291397095881692, | |
| 0.033163443154059294 | |
| ], dtype=np.float32) | |
| # Action 反归一化参数 - 14D (left_arm 7D + right_arm 7D) | |
| ACTION_MEAN = np.array([ | |
| -0.09563466728772782, | |
| 1.2188388391054852, | |
| -1.0205979984170253, | |
| 0.05980351151645611, | |
| 0.7756429177913368, | |
| -0.03388108740391065, | |
| 0.05847346337197445, | |
| 0.027242103722957448, | |
| -0.018979807006473278, | |
| -0.2058026173405072, | |
| -0.017844390944858398, | |
| 0.5078671119565988, | |
| -0.01954643361667616, | |
| 0.014368052743909286 | |
| ], dtype=np.float32) | |
| ACTION_STD = np.array([ | |
| 0.3032518940999695, | |
| 0.8411646899886063, | |
| 0.5740990465705452, | |
| 0.05945644994245482, | |
| 0.23283106709062928, | |
| 0.1427498783238014, | |
| 0.03752145626492375, | |
| 0.0048017492790026995, | |
| 0.017038866556135936, | |
| 0.05621833904816755, | |
| 0.021437398125901518, | |
| 0.023814408890144745, | |
| 0.044538221806866174, | |
| 0.04747235290605119 | |
| ], 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) | |