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preprocessed/LiftBucket-v1/norm_stats.json

@@ -0,0 +1,221 @@
+{
+  "count": 3468,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 48,
+  "action_dim": 22,
+  "state_mean": [
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+    1.9367030367100528,
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+    0.0588605081591118,
+    0.061539224559634315,
+    0.045133958595574675,
+    0.06439902043704286,
+    0.06187679662342236,
+    0.06336617350848918,
+    0.053444658581315335,
+    0.0,
+    0.6998759471008934
+  ],
+  "state_std": [
+    0.13785133809234854,
+    0.2548261191205154,
+    0.0990435880887377,
+    0.28503515224785053,
+    0.1449868133321608,
+    0.19363785146114623,
+    0.21197425890341343,
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+    0.07600706313568492,
+    0.09685975702011355,
+    0.10006817785927588,
+    0.10056172556578381,
+    0.07626655836626402,
+    0.004893854710602224,
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+    0.0014691380189966827,
+    0.011166034928997946,
+    0.09957900418588683,
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+    0.09916273356129875,
+    0.09947675827072246,
+    0.09931157138182546,
+    0.09577361936778012,
+    1.0,
+    0.17545167242770976
+  ],
+  "action_mean": [
+    0.00486730233548078,
+    -0.006856396981228181,
+    0.03852096597869229,
+    0.0,
+    0.0,
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+    0.06924249502511173,
+    0.06820884178529012,
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+    0.06907287335416436,
+    0.05340317563253702,
+    0.005897548473151485,
+    0.09882224621004163,
+    0.08609050651528843
+  ],
+  "action_std": [
+    0.02705675727925721,
+    0.09951058475496861,
+    0.05638743685357218,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.0019677069651564943,
+    0.10113997771876092,
+    0.09950003004110074,
+    0.09943679105476914,
+    0.0024631112876269652,
+    0.0992474988037749,
+    0.09939350282071051,
+    0.09926405183469249,
+    0.0004971827343507399,
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+    0.09928835818168037,
+    0.09930441335113818,
+    0.07702310111185383,
+    0.009650059195452842,
+    0.11244386931835638,
+    0.10438827504330925
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        0,
+        23
+      ]
+    },
+    {
+      "path": "obs/agent/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        23,
+        46
+      ]
+    },
+    {
+      "path": "obs/extra/is_bucket_lifted",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        46,
+        47
+      ]
+    },
+    {
+      "path": "obs/extra/lifting_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        47,
+        48
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      23
+    ],
+    [
+      23,
+      46
+    ],
+    [
+      47,
+      48
+    ]
+  ],
+  "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)."
+}