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preprocessed/PingPongBallTransport-v1/norm_stats.json
ADDED
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{
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"cameras": [
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"front_camera",
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"state_std": [
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"state_norm_policy": "continuous_only",
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"state_fields": [
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{
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"path": "obs/agent/qpos",
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{
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"path": "obs/agent/qvel",
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{
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{
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"path": "obs/extra/ball_to_current_cup_distance",
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"dtype": "float32",
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"kind": "continuous",
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},
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{
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"path": "obs/extra/current_cup_index",
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"dtype": "float32",
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"kind": "continuous",
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"dim": 1,
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"slice": [
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21
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]
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},
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{
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| 142 |
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"path": "obs/extra/is_ball_at_sufficient_height",
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"dtype": "bool",
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| 144 |
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"kind": "bool",
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"dim": 1,
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22
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| 149 |
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},
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{
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| 152 |
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"path": "obs/extra/is_ball_in_current_cup",
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| 153 |
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"dtype": "bool",
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| 154 |
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"kind": "bool",
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| 155 |
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23
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| 159 |
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]
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| 160 |
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},
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{
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| 162 |
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"path": "obs/extra/is_success",
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"dtype": "bool",
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| 164 |
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"kind": "bool",
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| 165 |
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"dim": 1,
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| 166 |
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"slice": [
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| 167 |
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23,
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| 168 |
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24
|
| 169 |
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]
|
| 170 |
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},
|
| 171 |
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{
|
| 172 |
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"path": "obs/extra/is_transport_complete",
|
| 173 |
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"dtype": "bool",
|
| 174 |
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"kind": "bool",
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| 175 |
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"dim": 1,
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| 176 |
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"slice": [
|
| 177 |
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24,
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| 178 |
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25
|
| 179 |
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]
|
| 180 |
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},
|
| 181 |
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{
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| 182 |
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"path": "obs/extra/transport_progress",
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| 183 |
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"dtype": "float32",
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| 184 |
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"kind": "continuous",
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| 185 |
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"dim": 1,
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| 186 |
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"slice": [
|
| 187 |
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25,
|
| 188 |
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26
|
| 189 |
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]
|
| 190 |
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}
|
| 191 |
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],
|
| 192 |
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"state_norm_slices": [
|
| 193 |
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[
|
| 194 |
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0,
|
| 195 |
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9
|
| 196 |
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],
|
| 197 |
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[
|
| 198 |
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9,
|
| 199 |
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18
|
| 200 |
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],
|
| 201 |
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[
|
| 202 |
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18,
|
| 203 |
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19
|
| 204 |
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],
|
| 205 |
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[
|
| 206 |
+
19,
|
| 207 |
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20
|
| 208 |
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],
|
| 209 |
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[
|
| 210 |
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20,
|
| 211 |
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21
|
| 212 |
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],
|
| 213 |
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[
|
| 214 |
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25,
|
| 215 |
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26
|
| 216 |
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]
|
| 217 |
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],
|
| 218 |
+
"notes": "State stats computed ONLY on continuous dims; discrete/bool dims keep raw (mean=0,std=1). All stats computed over aligned length T (drop last obs to align with actions)."
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| 219 |
+
}
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