| """ | |
| 归一化常量 - point5_v30 | |
| 从 data/each-point-V30/point5_v30/meta/stats.json 自动生成 | |
| """ | |
| import numpy as np | |
| # ====== 归一化统计量（从 point5_v30 数据集提取）====== | |
| # State 归一化参数 (observation.state) - 14D | |
| STATE_MEAN = np.array([ | |
| -0.28005248155530416, | |
| 1.3383875955120301, | |
| -1.1340355494467393, | |
| 0.04400213425097945, | |
| 0.6931494163132652, | |
| -0.013576608081085108, | |
| 0.05974055656493036, | |
| 0.018501200326071592, | |
| -0.03282953766787461, | |
| -0.15235542188725504, | |
| -0.002301428052642584, | |
| 0.5936170996343659, | |
| -0.04125813545263295, | |
| 0.0 | |
| ], dtype=np.float32) | |
| STATE_STD = np.array([ | |
| 0.21416834336270812, | |
| 0.9030553839265362, | |
| 0.6935661050312355, | |
| 0.06133690093023171, | |
| 0.19034198074473987, | |
| 0.09296174655805599, | |
| 0.0318032495403896, | |
| 0.020133542034951886, | |
| 3.9235387410912323e-05, | |
| 0.0004789654057632508, | |
| 0.002848207154696946, | |
| 0.0019173978824850602, | |
| 0.007214434067294394, | |
| 0.0 | |
| ], dtype=np.float32) | |
| # Action 反归一化参数 - 14D (left_arm 7D + right_arm 7D) | |
| ACTION_MEAN = np.array([ | |
| -0.2807868087526399, | |
| 1.3186104217237944, | |
| -1.1624275894222404, | |
| 0.04484921323885086, | |
| 0.6214815075819917, | |
| -0.01548597917326217, | |
| 0.05852798315059126, | |
| 0.018503104133437743, | |
| -0.03181775955729813, | |
| -0.17297348977113092, | |
| -0.00583117052590501, | |
| 0.5048373769527363, | |
| -0.04608024321727365, | |
| -0.021100036575480336 | |
| ], dtype=np.float32) | |
| ACTION_STD = np.array([ | |
| 0.21595120233546664, | |
| 0.8836377848472635, | |
| 0.6972781236780935, | |
| 0.06790456168072799, | |
| 0.20456011389450912, | |
| 0.0950634453821984, | |
| 0.03626923789601678, | |
| 0.018581566641577462, | |
| 8.614682487762797e-05, | |
| 0.0009287712234452638, | |
| 0.0005459503451593117, | |
| 0.0003580720599472833, | |
| 0.00417338909340118, | |
| 4.801666942775271e-06 | |
| ], 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) | |