| """ | |
| 归一化常量 - point9_v30 | |
| 从 data/each-point-V30/point9_v30/meta/stats.json 自动生成 | |
| """ | |
| import numpy as np | |
| # ====== 归一化统计量（从 point9_v30 数据集提取）====== | |
| # State 归一化参数 (observation.state) - 14D | |
| STATE_MEAN = np.array([ | |
| -0.12687032082273955, | |
| -0.036684748468658004, | |
| -0.1500179749581063, | |
| 0.028206904805729877, | |
| 0.6122692655357367, | |
| -0.023200515864581262, | |
| 0.0, | |
| 0.1998390246824548, | |
| 1.0792388664919386, | |
| -0.7438378233066395, | |
| 0.07516690328567417, | |
| 0.7451424780750904, | |
| 0.052306057294479034, | |
| 0.05337745063575038 | |
| ], dtype=np.float32) | |
| STATE_STD = np.array([ | |
| 9.161563818354771e-05, | |
| 6.565246521768482e-05, | |
| 0.00014853381036188356, | |
| 5.4935169942010397e-05, | |
| 3.0314402184518994e-07, | |
| 1.0696350790923684e-05, | |
| 0.0, | |
| 0.19334436439401964, | |
| 0.7468203133843938, | |
| 0.5563007852660695, | |
| 0.12521193090174662, | |
| 0.24714571181564915, | |
| 0.09695591683097207, | |
| 0.026807901657205098 | |
| ], dtype=np.float32) | |
| # Action 反归一化参数 - 14D (left_arm 7D + right_arm 7D) | |
| ACTION_MEAN = np.array([ | |
| -0.13086460573446723, | |
| -0.031905150499351484, | |
| -0.17714334448518482, | |
| 0.03691164604161681, | |
| 0.5106044783021237, | |
| -0.028782537914904698, | |
| -0.017799981057825084, | |
| 0.20171889206832191, | |
| 1.0678730896211122, | |
| -0.7625965521734605, | |
| 0.08184901982010348, | |
| 0.7020391768669159, | |
| 0.0518838830544826, | |
| 0.05827606569204759 | |
| ], dtype=np.float32) | |
| ACTION_STD = np.array([ | |
| 0.00025180691622196823, | |
| 1.805365984284138e-09, | |
| 0.00016874256698898044, | |
| 2.0061900752572355e-08, | |
| 2.8885855748546208e-08, | |
| 8.40284854069312e-05, | |
| 4.279058407581297e-05, | |
| 0.19498184149591666, | |
| 0.7326933248613593, | |
| 0.5605629146731506, | |
| 0.137227747479853, | |
| 0.2816728522424186, | |
| 0.0995232980010479, | |
| 0.03193760938707793 | |
| ], 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) | |