| """ | |
| 归一化常量 - point8_v30 | |
| 从 data/each-point-V30/point8_v30/meta/stats.json 自动生成 | |
| """ | |
| import numpy as np | |
| # ====== 归一化统计量（从 point8_v30 数据集提取）====== | |
| # State 归一化参数 (observation.state) - 14D | |
| STATE_MEAN = np.array([ | |
| -0.029357308751252288, | |
| -0.0366847310865186, | |
| -0.15001806139603732, | |
| 0.024403185585707872, | |
| 0.6105986150778014, | |
| -0.023200513795018196, | |
| 0.0, | |
| 0.23261437138917695, | |
| 1.2513207708462388, | |
| -1.0035357727626397, | |
| 0.0422896649669971, | |
| 0.8004358498373007, | |
| 0.15402530226691927, | |
| 0.05202593022954153 | |
| ], dtype=np.float32) | |
| STATE_STD = np.array([ | |
| 0.056398723491224996, | |
| 7.066846822897336e-05, | |
| 9.266925077044174e-05, | |
| 0.002200102029912923, | |
| 0.001417246040206404, | |
| 1.817338469257692e-05, | |
| 0.0, | |
| 0.21625684351379432, | |
| 0.8382930945615424, | |
| 0.6238856616798877, | |
| 0.12221667939835275, | |
| 0.23559872175942428, | |
| 0.11968134009988947, | |
| 0.026852916257278012 | |
| ], dtype=np.float32) | |
| # Action 反归一化参数 - 14D (left_arm 7D + right_arm 7D) | |
| ACTION_MEAN = np.array([ | |
| -0.032802904031301976, | |
| -0.03356522257857736, | |
| -0.17505277360891494, | |
| 0.0226375190800306, | |
| 0.5078454193109547, | |
| -0.03052101877777979, | |
| -0.017799990113854223, | |
| 0.2339140563913664, | |
| 1.2324637310191093, | |
| -1.0244116678096804, | |
| 0.04829354306249781, | |
| 0.7543031499447965, | |
| 0.1541142653223035, | |
| 0.05467545737713154 | |
| ], dtype=np.float32) | |
| ACTION_STD = np.array([ | |
| 0.0567161197940044, | |
| 0.0009601377678417388, | |
| 0.0012123247497686602, | |
| 0.008255705685968628, | |
| 0.001676565003332173, | |
| 0.0010080220821494172, | |
| 3.67239565324797e-05, | |
| 0.21772973865643708, | |
| 0.8222133937073368, | |
| 0.6279180203706777, | |
| 0.13550558296994406, | |
| 0.2693235465469347, | |
| 0.12234343218067656, | |
| 0.03189278702391559 | |
| ], 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) | |