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preprocessed/HitBilliard-v1/norm_stats.json

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+{
+  "count": 7584,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 50,
+  "action_dim": 10,
+  "state_mean": [
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+    -0.9725655904604625,
+    0.764227279140094,
+    -0.10235017168919198,
+    -0.5143148289680108,
+    0.08356033086854542,
+    -2.0542469373452263,
+    0.03435729147785064,
+    1.5501357037023904,
+    1.2010632190373942,
+    0.03147590557532777,
+    0.031493049648389976,
+    0.05361796815525552,
+    -0.06641471426698545,
+    0.0729172313645472,
+    -0.00944384399101011,
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+    0.04438692003504348,
+    0.0003994918378579634,
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+    0.04184555915737613,
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+    -0.000725533919459913,
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+    0.7127779632618154,
+    0.8738082727645269,
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+    0.026942285591153855,
+    0.0013965059194268447,
+    -0.006784519920034906,
+    0.00874956381724494,
+    4.708771755408386e-05,
+    0.8756876401760406,
+    -0.26388309960045264,
+    0.801803469657898,
+    0.7245351672015361,
+    -0.2611866719683805,
+    0.8230142730292138,
+    0.7645624067392671,
+    -0.9725655904604625,
+    0.764227279140094,
+    1.0,
+    0.0,
+    0.4000000059604645
+  ],
+  "state_std": [
+    0.412002100421377,
+    0.46511484477931264,
+    0.7686789568569795,
+    0.21589370649552136,
+    0.3718972039501848,
+    0.18411483340884685,
+    0.39896737712073116,
+    0.06645518590222012,
+    0.06968295539816154,
+    0.6578886869345753,
+    0.011203888278549026,
+    0.011209691660973187,
+    0.20556525011042268,
+    0.17285726458917922,
+    0.28207526012516926,
+    0.05883614703384173,
+    0.2457313364190313,
+    0.04783437669797584,
+    0.22303741916114744,
+    0.024297707082982508,
+    0.05680174206563225,
+    0.28330261787443745,
+    0.031764048738954574,
+    0.03216301560522951,
+    0.022931347448251097,
+    0.15994763674706178,
+    0.00393616401880587,
+    0.04047809029662345,
+    0.0507870943416264,
+    0.011705465813230911,
+    0.057465244525951094,
+    0.037661297731319876,
+    0.02851456157792953,
+    0.12415889066984721,
+    0.02934412435882106,
+    0.035610789545251154,
+    0.04423815928141894,
+    0.04085413336833187,
+    0.03350174065633835,
+    0.011635439257769595,
+    0.0001,
+    0.10212959756421007,
+    0.10948182248827949,
+    0.02574577277403,
+    0.412002100421377,
+    0.46511484477931264,
+    0.7686789568569795,
+    0.0001,
+    0.0001,
+    0.0001
+  ],
+  "action_mean": [
+    0.7755869901758708,
+    -0.985404259509521,
+    0.7797831036076776,
+    0.0052823507323279525,
+    0.00891706556816613,
+    0.004899333400125242,
+    0.00015592894422735307,
+    0.00021207974197907784,
+    0.007943733330107592,
+    0.287710970464135
+  ],
+  "action_std": [
+    0.41204907534117713,
+    0.457520768497896,
+    0.7707930791635949,
+    0.026507473898395348,
+    0.053103393155469546,
+    0.03894097225501354,
+    0.0016500750227315837,
+    0.002347954052329834,
+    0.055376170766371,
+    0.9577172899528259
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 12,
+      "slice": [
+        0,
+        12
+      ]
+    },
+    {
+      "path": "obs/agent/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 12,
+      "slice": [
+        12,
+        24
+      ]
+    },
+    {
+      "path": "obs/extra/ball_positions",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 6,
+      "slice": [
+        24,
+        30
+      ]
+    },
+    {
+      "path": "obs/extra/ball_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 2,
+      "slice": [
+        30,
+        32
+      ]
+    },
+    {
+      "path": "obs/extra/ball_velocities",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 6,
+      "slice": [
+        32,
+        38
+      ]
+    },
+    {
+      "path": "obs/extra/bridge_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        38,
+        41
+      ]
+    },
+    {
+      "path": "obs/extra/cue_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        41,
+        44
+      ]
+    },
+    {
+      "path": "obs/extra/robot_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        44,
+        47
+      ]
+    },
+    {
+      "path": "obs/extra/table_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        47,
+        50
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      12
+    ],
+    [
+      12,
+      24
+    ],
+    [
+      24,
+      30
+    ],
+    [
+      30,
+      32
+    ],
+    [
+      32,
+      38
+    ],
+    [
+      38,
+      41
+    ],
+    [
+      41,
+      44
+    ],
+    [
+      44,
+      47
+    ],
+    [
+      47,
+      50
+    ]
+  ],
+  "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)."
+}