| """ | |
| 归一化常量 - point6_v30 | |
| 从 data/each-point-V30/point6_v30/meta/stats.json 自动生成 | |
| """ | |
| import numpy as np | |
| # ====== 归一化统计量（从 point6_v30 数据集提取）====== | |
| # State 归一化参数 (observation.state) - 14D | |
| STATE_MEAN = np.array([ | |
| -0.007085140314847432, | |
| -0.03668476168522435, | |
| -0.15001790611264593, | |
| 0.02313079016292914, | |
| 0.6102600914863343, | |
| -0.0223078279476414, | |
| 0.0, | |
| 0.5099882148213464, | |
| 1.1446939613341174, | |
| -0.8201013696834506, | |
| 0.031126432575391345, | |
| 0.5934614346440548, | |
| 0.004724245610484785, | |
| 0.05497666901780313 | |
| ], dtype=np.float32) | |
| STATE_STD = np.array([ | |
| 0.012557890494509377, | |
| 6.053414836905151e-05, | |
| 0.0002020044001694013, | |
| 1.381821878530468e-08, | |
| 0.0014517861158772052, | |
| 0.001511308291785926, | |
| 0.0, | |
| 0.3652191086613024, | |
| 0.7760467146669371, | |
| 0.4718792864106299, | |
| 0.07129632433162746, | |
| 0.12295911007000543, | |
| 0.08249436712990883, | |
| 0.025471240915686186 | |
| ], dtype=np.float32) | |
| # Action 反归一化参数 - 14D (left_arm 7D + right_arm 7D) | |
| ACTION_MEAN = np.array([ | |
| -0.005136718748684256, | |
| -0.03412054045721903, | |
| -0.17435355442555325, | |
| 0.017862677371012638, | |
| 0.5062463928050912, | |
| -0.031102536014840948, | |
| -0.01779997369099908, | |
| 0.5109146526894845, | |
| 1.1305450997768085, | |
| -0.8409332029684848, | |
| 0.03348627621020602, | |
| 0.5344794620455249, | |
| 0.0017850577796070354, | |
| 0.05896427743418828 | |
| ], dtype=np.float32) | |
| ACTION_STD = np.array([ | |
| 0.013219498878056806, | |
| 2.011524508279726e-09, | |
| 7.470100902949707e-08, | |
| 8.984777029888443e-09, | |
| 0.0014530189885909569, | |
| 8.441573803620589e-05, | |
| 4.7111978829599714e-05, | |
| 0.367917774188715, | |
| 0.7618541379264655, | |
| 0.47459581196510897, | |
| 0.07797761403916502, | |
| 0.12923715860023022, | |
| 0.08473523241824801, | |
| 0.030256989839921818 | |
| ], 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) | |