Upload ReorientCube and GraspCylinder preprocessed datasets
Browse files
preprocessed/GraspCylinder-v1/norm_stats.json
ADDED
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@@ -0,0 +1,269 @@
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],
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"state_norm_policy": "continuous_only",
|
| 174 |
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"state_fields": [
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| 175 |
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{
|
| 176 |
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"path": "obs/agent/qpos",
|
| 177 |
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"dtype": "float32",
|
| 178 |
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"kind": "continuous",
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| 179 |
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"dim": 23,
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| 180 |
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"slice": [
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| 181 |
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0,
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| 182 |
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23
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| 183 |
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]
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| 184 |
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},
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| 185 |
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{
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| 186 |
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"path": "obs/agent/qvel",
|
| 187 |
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"dtype": "float32",
|
| 188 |
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"kind": "continuous",
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| 189 |
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"dim": 23,
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| 190 |
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"slice": [
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| 191 |
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23,
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| 192 |
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46
|
| 193 |
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]
|
| 194 |
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},
|
| 195 |
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{
|
| 196 |
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"path": "obs/extra/cylinder_position",
|
| 197 |
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"dtype": "float32",
|
| 198 |
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"kind": "continuous",
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| 199 |
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"dim": 3,
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| 200 |
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"slice": [
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| 201 |
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46,
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| 202 |
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49
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| 203 |
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]
|
| 204 |
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},
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| 205 |
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{
|
| 206 |
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"path": "obs/extra/cylinder_variant",
|
| 207 |
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"dtype": "int64",
|
| 208 |
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"kind": "discrete",
|
| 209 |
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"dim": 1,
|
| 210 |
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"slice": [
|
| 211 |
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49,
|
| 212 |
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50
|
| 213 |
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]
|
| 214 |
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},
|
| 215 |
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{
|
| 216 |
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"path": "obs/extra/is_cylinder_lifted",
|
| 217 |
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"dtype": "bool",
|
| 218 |
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"kind": "bool",
|
| 219 |
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"dim": 1,
|
| 220 |
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"slice": [
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| 221 |
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50,
|
| 222 |
+
51
|
| 223 |
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]
|
| 224 |
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},
|
| 225 |
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{
|
| 226 |
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"path": "obs/extra/lifting_progress",
|
| 227 |
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"dtype": "float32",
|
| 228 |
+
"kind": "continuous",
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| 229 |
+
"dim": 1,
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| 230 |
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"slice": [
|
| 231 |
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51,
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| 232 |
+
52
|
| 233 |
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]
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| 234 |
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},
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| 235 |
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{
|
| 236 |
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"path": "obs/extra/target_lift_height",
|
| 237 |
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"dtype": "float32",
|
| 238 |
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"kind": "continuous",
|
| 239 |
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"dim": 1,
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| 240 |
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"slice": [
|
| 241 |
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52,
|
| 242 |
+
53
|
| 243 |
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]
|
| 244 |
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}
|
| 245 |
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],
|
| 246 |
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"state_norm_slices": [
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| 247 |
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[
|
| 248 |
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0,
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| 249 |
+
23
|
| 250 |
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],
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| 251 |
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[
|
| 252 |
+
23,
|
| 253 |
+
46
|
| 254 |
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],
|
| 255 |
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[
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| 256 |
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46,
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| 257 |
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49
|
| 258 |
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],
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| 259 |
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[
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| 260 |
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51,
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| 261 |
+
52
|
| 262 |
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],
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| 263 |
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[
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| 264 |
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52,
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| 265 |
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53
|
| 266 |
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]
|
| 267 |
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],
|
| 268 |
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"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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| 269 |
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}
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preprocessed/ReorientCube-v1/norm_stats.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"count": 4180,
|
| 3 |
+
"target_image_size": [
|
| 4 |
+
192,
|
| 5 |
+
256
|
| 6 |
+
],
|
| 7 |
+
"cameras": [
|
| 8 |
+
"front_camera",
|
| 9 |
+
"left_camera",
|
| 10 |
+
"robot_camera",
|
| 11 |
+
"top_camera"
|
| 12 |
+
],
|
| 13 |
+
"state_dim": 50,
|
| 14 |
+
"action_dim": 22,
|
| 15 |
+
"state_mean": [
|
| 16 |
+
-0.05770589650228301,
|
| 17 |
+
0.32192324760503066,
|
| 18 |
+
-0.13549083597257924,
|
| 19 |
+
-1.9787919766880104,
|
| 20 |
+
-0.02509380296710657,
|
| 21 |
+
2.2001441054366992,
|
| 22 |
+
0.12627868610536597,
|
| 23 |
+
5.412026781253082e-05,
|
| 24 |
+
6.510688741259131e-05,
|
| 25 |
+
-0.0016294212791851418,
|
| 26 |
+
8.564438754170907e-05,
|
| 27 |
+
-2.444051038862238e-05,
|
| 28 |
+
-2.3750099808482264e-05,
|
| 29 |
+
-2.30382390280425e-05,
|
| 30 |
+
3.368281699567213e-06,
|
| 31 |
+
5.857414443715307e-06,
|
| 32 |
+
7.201799328947962e-06,
|
| 33 |
+
8.451822779109348e-06,
|
| 34 |
+
5.371516304806831e-06,
|
| 35 |
+
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|
| 36 |
+
-8.39095190853586e-08,
|
| 37 |
+
-8.839980081052892e-08,
|
| 38 |
+
-3.065409103166259e-07,
|
| 39 |
+
-0.001921968891424006,
|
| 40 |
+
0.04348210299328947,
|
| 41 |
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|
| 42 |
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0.05731554890588772,
|
| 43 |
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|
| 44 |
+
-0.025420307263622127,
|
| 45 |
+
0.026283960371520382,
|
| 46 |
+
3.6802566576878e-05,
|
| 47 |
+
4.577567875577176e-05,
|
| 48 |
+
7.409905933487586e-05,
|
| 49 |
+
5.0543371012299225e-05,
|
| 50 |
+
-1.4355283320926506e-05,
|
| 51 |
+
-1.3996429128826128e-05,
|
| 52 |
+
-1.3629699681403806e-05,
|
| 53 |
+
2.234431841651215e-07,
|
| 54 |
+
4.1451657566987e-06,
|
| 55 |
+
5.248506220458067e-06,
|
| 56 |
+
6.2965046294112035e-06,
|
| 57 |
+
-1.0956147530445293e-07,
|
| 58 |
+
-4.307426593824556e-08,
|
| 59 |
+
-4.314233843993497e-08,
|
| 60 |
+
-4.567151974051466e-08,
|
| 61 |
+
-2.0194694201877213e-07,
|
| 62 |
+
0.0,
|
| 63 |
+
1.3573104230973327,
|
| 64 |
+
0.0,
|
| 65 |
+
2.744008396516006
|
| 66 |
+
],
|
| 67 |
+
"state_std": [
|
| 68 |
+
0.05898227087576788,
|
| 69 |
+
0.20201430843271548,
|
| 70 |
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0.06938762001884743,
|
| 71 |
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0.3042469087277041,
|
| 72 |
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0.03624333319664082,
|
| 73 |
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0.15656000265855505,
|
| 74 |
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0.20685900540268715,
|
| 75 |
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0.00011737905456733763,
|
| 76 |
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0.00011865672998005657,
|
| 77 |
+
0.0016535566732992326,
|
| 78 |
+
0.00012269204280332028,
|
| 79 |
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0.00010121825193265946,
|
| 80 |
+
0.00010118954095967484,
|
| 81 |
+
0.00010116289400681106,
|
| 82 |
+
0.00010009142563319092,
|
| 83 |
+
0.00010029391046881126,
|
| 84 |
+
0.00010031100573909448,
|
| 85 |
+
0.0001003410064795199,
|
| 86 |
+
0.00010033306491909339,
|
| 87 |
+
0.00010000002071690377,
|
| 88 |
+
0.00010000002081362135,
|
| 89 |
+
0.00010000002248416788,
|
| 90 |
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0.0001000003164127693,
|
| 91 |
+
0.035523595897114194,
|
| 92 |
+
0.10891410782732734,
|
| 93 |
+
0.03136857616840689,
|
| 94 |
+
0.16854101428904683,
|
| 95 |
+
0.017179953141536045,
|
| 96 |
+
0.08490612897780225,
|
| 97 |
+
0.07717028312217931,
|
| 98 |
+
0.0002409736225104372,
|
| 99 |
+
0.00024468445443688423,
|
| 100 |
+
0.0026389055537551797,
|
| 101 |
+
0.00025195813472078763,
|
| 102 |
+
0.00011510115965069724,
|
| 103 |
+
0.00011492343431888119,
|
| 104 |
+
0.00011474685682158715,
|
| 105 |
+
0.00010266067034071678,
|
| 106 |
+
0.0001038831869353078,
|
| 107 |
+
0.00010399833573965463,
|
| 108 |
+
0.00010413514396052635,
|
| 109 |
+
0.0001085509974023309,
|
| 110 |
+
0.00010000011005498924,
|
| 111 |
+
0.00010000011025095673,
|
| 112 |
+
0.00010000013206390123,
|
| 113 |
+
0.00010000107820988374,
|
| 114 |
+
1.0,
|
| 115 |
+
0.9099787565302676,
|
| 116 |
+
1.0,
|
| 117 |
+
0.6829719938010371
|
| 118 |
+
],
|
| 119 |
+
"action_mean": [
|
| 120 |
+
0.027881689588918075,
|
| 121 |
+
0.02335310392076168,
|
| 122 |
+
-0.003245358047873209,
|
| 123 |
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0.0,
|
| 124 |
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0.0,
|
| 125 |
+
0.0,
|
| 126 |
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0.0,
|
| 127 |
+
0.0,
|
| 128 |
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0.0,
|
| 129 |
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0.0,
|
| 130 |
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0.0,
|
| 131 |
+
0.0,
|
| 132 |
+
0.0,
|
| 133 |
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0.0,
|
| 134 |
+
0.0,
|
| 135 |
+
0.0,
|
| 136 |
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0.0,
|
| 137 |
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0.0,
|
| 138 |
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0.0,
|
| 139 |
+
0.0,
|
| 140 |
+
0.0,
|
| 141 |
+
0.0
|
| 142 |
+
],
|
| 143 |
+
"action_std": [
|
| 144 |
+
0.06805883296913219,
|
| 145 |
+
0.06354428920823776,
|
| 146 |
+
0.017734426994420637,
|
| 147 |
+
0.0001,
|
| 148 |
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0.0001,
|
| 149 |
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0.0001,
|
| 150 |
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0.0001,
|
| 151 |
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0.0001,
|
| 152 |
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0.0001,
|
| 153 |
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0.0001,
|
| 154 |
+
0.0001,
|
| 155 |
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0.0001,
|
| 156 |
+
0.0001,
|
| 157 |
+
0.0001,
|
| 158 |
+
0.0001,
|
| 159 |
+
0.0001,
|
| 160 |
+
0.0001,
|
| 161 |
+
0.0001,
|
| 162 |
+
0.0001,
|
| 163 |
+
0.0001,
|
| 164 |
+
0.0001,
|
| 165 |
+
0.0001
|
| 166 |
+
],
|
| 167 |
+
"state_norm_policy": "continuous_only",
|
| 168 |
+
"state_fields": [
|
| 169 |
+
{
|
| 170 |
+
"path": "obs/agent/qpos",
|
| 171 |
+
"dtype": "float32",
|
| 172 |
+
"kind": "continuous",
|
| 173 |
+
"dim": 23,
|
| 174 |
+
"slice": [
|
| 175 |
+
0,
|
| 176 |
+
23
|
| 177 |
+
]
|
| 178 |
+
},
|
| 179 |
+
{
|
| 180 |
+
"path": "obs/agent/qvel",
|
| 181 |
+
"dtype": "float32",
|
| 182 |
+
"kind": "continuous",
|
| 183 |
+
"dim": 23,
|
| 184 |
+
"slice": [
|
| 185 |
+
23,
|
| 186 |
+
46
|
| 187 |
+
]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"path": "obs/extra/is_reoriented",
|
| 191 |
+
"dtype": "bool",
|
| 192 |
+
"kind": "bool",
|
| 193 |
+
"dim": 1,
|
| 194 |
+
"slice": [
|
| 195 |
+
46,
|
| 196 |
+
47
|
| 197 |
+
]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"path": "obs/extra/rotational_distance",
|
| 201 |
+
"dtype": "float32",
|
| 202 |
+
"kind": "continuous",
|
| 203 |
+
"dim": 1,
|
| 204 |
+
"slice": [
|
| 205 |
+
47,
|
| 206 |
+
48
|
| 207 |
+
]
|
| 208 |
+
},
|
| 209 |
+
{
|
| 210 |
+
"path": "obs/extra/success_steps",
|
| 211 |
+
"dtype": "int32",
|
| 212 |
+
"kind": "discrete",
|
| 213 |
+
"dim": 1,
|
| 214 |
+
"slice": [
|
| 215 |
+
48,
|
| 216 |
+
49
|
| 217 |
+
]
|
| 218 |
+
},
|
| 219 |
+
{
|
| 220 |
+
"path": "obs/extra/target_rotation_angle",
|
| 221 |
+
"dtype": "float32",
|
| 222 |
+
"kind": "continuous",
|
| 223 |
+
"dim": 1,
|
| 224 |
+
"slice": [
|
| 225 |
+
49,
|
| 226 |
+
50
|
| 227 |
+
]
|
| 228 |
+
}
|
| 229 |
+
],
|
| 230 |
+
"state_norm_slices": [
|
| 231 |
+
[
|
| 232 |
+
0,
|
| 233 |
+
23
|
| 234 |
+
],
|
| 235 |
+
[
|
| 236 |
+
23,
|
| 237 |
+
46
|
| 238 |
+
],
|
| 239 |
+
[
|
| 240 |
+
47,
|
| 241 |
+
48
|
| 242 |
+
],
|
| 243 |
+
[
|
| 244 |
+
49,
|
| 245 |
+
50
|
| 246 |
+
]
|
| 247 |
+
],
|
| 248 |
+
"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)."
|
| 249 |
+
}
|