Add preprocessed (RADIO) dataset for DualArmOpenPen-v1

preprocessed/DualArmOpenPen-v1/norm_stats.json

@@ -0,0 +1,394 @@
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+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/panda_leaphand-1/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        0,
+        23
+      ]
+    },
+    {
+      "path": "obs/agent/panda_leaphand-1/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        23,
+        46
+      ]
+    },
+    {
+      "path": "obs/agent/panda_leaphand_left-0/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        46,
+        69
+      ]
+    },
+    {
+      "path": "obs/agent/panda_leaphand_left-0/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        69,
+        92
+      ]
+    },
+    {
+      "path": "obs/extra/displacement",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        92,
+        93
+      ]
+    },
+    {
+      "path": "obs/extra/pen_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        93,
+        96
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      23
+    ],
+    [
+      23,
+      46
+    ],
+    [
+      46,
+      69
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+    [
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+      92
+    ],
+    [
+      92,
+      93
+    ],
+    [
+      93,
+      96
+    ]
+  ],
+  "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)."
+}