Upload preprocessed OpenBoxRetrieval-v1
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preprocessed/OpenBoxRetrieval-v1/norm_stats.json
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| 1 |
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{
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"count": 12328,
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"target_image_size": [
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192,
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256
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],
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"cameras": [
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"front_camera",
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"left_camera",
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"robot_camera",
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"top_camera"
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],
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"state_dim": 29,
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"action_dim": 7,
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],
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"state_std": [
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],
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"action_mean": [
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],
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"action_std": [
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0.0001,
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],
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"state_norm_policy": "continuous_only",
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| 96 |
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"state_fields": [
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{
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"path": "obs/agent/qpos",
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"dtype": "float32",
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"kind": "continuous",
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"dim": 9,
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},
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{
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"path": "obs/agent/qvel",
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"dtype": "float32",
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"kind": "continuous",
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"dim": 9,
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"slice": [
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]
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},
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{
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| 118 |
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"path": "obs/extra/banana_position",
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| 119 |
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"dtype": "float32",
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| 120 |
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"kind": "continuous",
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| 121 |
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"dim": 3,
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| 122 |
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"slice": [
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| 124 |
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| 125 |
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]
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| 126 |
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},
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| 127 |
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{
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| 128 |
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"path": "obs/extra/box_lid_angle",
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| 129 |
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"dtype": "float32",
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| 130 |
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"kind": "continuous",
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| 132 |
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22
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| 135 |
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]
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| 136 |
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},
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| 137 |
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{
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| 138 |
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"path": "obs/extra/box_orientation",
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| 139 |
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"dtype": "float32",
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| 140 |
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"kind": "continuous",
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| 141 |
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"dim": 2,
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| 142 |
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"slice": [
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| 143 |
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22,
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| 144 |
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24
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| 145 |
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]
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| 146 |
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},
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| 147 |
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{
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| 148 |
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"path": "obs/extra/box_position",
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| 149 |
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"dtype": "float32",
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| 150 |
+
"kind": "continuous",
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| 151 |
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"dim": 3,
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| 152 |
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"slice": [
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| 153 |
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24,
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| 154 |
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27
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| 155 |
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]
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| 156 |
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},
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| 157 |
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{
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| 158 |
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"path": "obs/extra/task_progress",
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| 159 |
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"dtype": "float32",
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| 160 |
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"kind": "continuous",
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| 161 |
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"dim": 2,
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| 162 |
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"slice": [
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| 163 |
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27,
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| 164 |
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29
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| 165 |
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]
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| 166 |
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}
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| 167 |
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],
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| 168 |
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"state_norm_slices": [
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| 169 |
+
[
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| 170 |
+
0,
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| 171 |
+
9
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| 172 |
+
],
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| 173 |
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[
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| 174 |
+
9,
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| 175 |
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18
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| 176 |
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],
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| 177 |
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[
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| 178 |
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18,
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| 179 |
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21
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| 180 |
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],
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| 181 |
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[
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| 182 |
+
21,
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| 183 |
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22
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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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22,
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| 187 |
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24
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| 188 |
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],
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| 189 |
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[
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| 190 |
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24,
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| 191 |
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27
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| 192 |
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],
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| 193 |
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[
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| 194 |
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27,
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| 195 |
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29
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| 196 |
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]
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| 197 |
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],
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| 198 |
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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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| 199 |
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}
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