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preprocessed/DualArmBilliardBridge-v1/norm_stats.json
ADDED
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0.9780281943206404,
|
| 207 |
+
0.11127471727076362,
|
| 208 |
+
0.048550467438964504,
|
| 209 |
+
0.00010968395380481993,
|
| 210 |
+
0.01695901491548752,
|
| 211 |
+
0.00026460386286524955,
|
| 212 |
+
0.028296636176028202,
|
| 213 |
+
0.0001,
|
| 214 |
+
0.0001,
|
| 215 |
+
0.0001,
|
| 216 |
+
0.0001
|
| 217 |
+
],
|
| 218 |
+
"state_norm_policy": "continuous_only",
|
| 219 |
+
"state_fields": [
|
| 220 |
+
{
|
| 221 |
+
"path": "obs/agent/mobile_panda-0/qpos",
|
| 222 |
+
"dtype": "float32",
|
| 223 |
+
"kind": "continuous",
|
| 224 |
+
"dim": 12,
|
| 225 |
+
"slice": [
|
| 226 |
+
0,
|
| 227 |
+
12
|
| 228 |
+
]
|
| 229 |
+
},
|
| 230 |
+
{
|
| 231 |
+
"path": "obs/agent/mobile_panda-0/qvel",
|
| 232 |
+
"dtype": "float32",
|
| 233 |
+
"kind": "continuous",
|
| 234 |
+
"dim": 12,
|
| 235 |
+
"slice": [
|
| 236 |
+
12,
|
| 237 |
+
24
|
| 238 |
+
]
|
| 239 |
+
},
|
| 240 |
+
{
|
| 241 |
+
"path": "obs/agent/mobile_panda-1/qpos",
|
| 242 |
+
"dtype": "float32",
|
| 243 |
+
"kind": "continuous",
|
| 244 |
+
"dim": 12,
|
| 245 |
+
"slice": [
|
| 246 |
+
24,
|
| 247 |
+
36
|
| 248 |
+
]
|
| 249 |
+
},
|
| 250 |
+
{
|
| 251 |
+
"path": "obs/agent/mobile_panda-1/qvel",
|
| 252 |
+
"dtype": "float32",
|
| 253 |
+
"kind": "continuous",
|
| 254 |
+
"dim": 12,
|
| 255 |
+
"slice": [
|
| 256 |
+
36,
|
| 257 |
+
48
|
| 258 |
+
]
|
| 259 |
+
},
|
| 260 |
+
{
|
| 261 |
+
"path": "obs/extra/ball_positions",
|
| 262 |
+
"dtype": "float32",
|
| 263 |
+
"kind": "continuous",
|
| 264 |
+
"dim": 6,
|
| 265 |
+
"slice": [
|
| 266 |
+
48,
|
| 267 |
+
54
|
| 268 |
+
]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"path": "obs/extra/ball_progress",
|
| 272 |
+
"dtype": "float32",
|
| 273 |
+
"kind": "continuous",
|
| 274 |
+
"dim": 2,
|
| 275 |
+
"slice": [
|
| 276 |
+
54,
|
| 277 |
+
56
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"path": "obs/extra/ball_velocities",
|
| 282 |
+
"dtype": "float32",
|
| 283 |
+
"kind": "continuous",
|
| 284 |
+
"dim": 6,
|
| 285 |
+
"slice": [
|
| 286 |
+
56,
|
| 287 |
+
62
|
| 288 |
+
]
|
| 289 |
+
},
|
| 290 |
+
{
|
| 291 |
+
"path": "obs/extra/bridge_position",
|
| 292 |
+
"dtype": "float32",
|
| 293 |
+
"kind": "continuous",
|
| 294 |
+
"dim": 3,
|
| 295 |
+
"slice": [
|
| 296 |
+
62,
|
| 297 |
+
65
|
| 298 |
+
]
|
| 299 |
+
},
|
| 300 |
+
{
|
| 301 |
+
"path": "obs/extra/cue_position",
|
| 302 |
+
"dtype": "float32",
|
| 303 |
+
"kind": "continuous",
|
| 304 |
+
"dim": 3,
|
| 305 |
+
"slice": [
|
| 306 |
+
65,
|
| 307 |
+
68
|
| 308 |
+
]
|
| 309 |
+
},
|
| 310 |
+
{
|
| 311 |
+
"path": "obs/extra/robot1_position",
|
| 312 |
+
"dtype": "float32",
|
| 313 |
+
"kind": "continuous",
|
| 314 |
+
"dim": 3,
|
| 315 |
+
"slice": [
|
| 316 |
+
68,
|
| 317 |
+
71
|
| 318 |
+
]
|
| 319 |
+
},
|
| 320 |
+
{
|
| 321 |
+
"path": "obs/extra/robot2_position",
|
| 322 |
+
"dtype": "float32",
|
| 323 |
+
"kind": "continuous",
|
| 324 |
+
"dim": 3,
|
| 325 |
+
"slice": [
|
| 326 |
+
71,
|
| 327 |
+
74
|
| 328 |
+
]
|
| 329 |
+
},
|
| 330 |
+
{
|
| 331 |
+
"path": "obs/extra/table_position",
|
| 332 |
+
"dtype": "float32",
|
| 333 |
+
"kind": "continuous",
|
| 334 |
+
"dim": 3,
|
| 335 |
+
"slice": [
|
| 336 |
+
74,
|
| 337 |
+
77
|
| 338 |
+
]
|
| 339 |
+
}
|
| 340 |
+
],
|
| 341 |
+
"state_norm_slices": [
|
| 342 |
+
[
|
| 343 |
+
0,
|
| 344 |
+
12
|
| 345 |
+
],
|
| 346 |
+
[
|
| 347 |
+
12,
|
| 348 |
+
24
|
| 349 |
+
],
|
| 350 |
+
[
|
| 351 |
+
24,
|
| 352 |
+
36
|
| 353 |
+
],
|
| 354 |
+
[
|
| 355 |
+
36,
|
| 356 |
+
48
|
| 357 |
+
],
|
| 358 |
+
[
|
| 359 |
+
48,
|
| 360 |
+
54
|
| 361 |
+
],
|
| 362 |
+
[
|
| 363 |
+
54,
|
| 364 |
+
56
|
| 365 |
+
],
|
| 366 |
+
[
|
| 367 |
+
56,
|
| 368 |
+
62
|
| 369 |
+
],
|
| 370 |
+
[
|
| 371 |
+
62,
|
| 372 |
+
65
|
| 373 |
+
],
|
| 374 |
+
[
|
| 375 |
+
65,
|
| 376 |
+
68
|
| 377 |
+
],
|
| 378 |
+
[
|
| 379 |
+
68,
|
| 380 |
+
71
|
| 381 |
+
],
|
| 382 |
+
[
|
| 383 |
+
71,
|
| 384 |
+
74
|
| 385 |
+
],
|
| 386 |
+
[
|
| 387 |
+
74,
|
| 388 |
+
77
|
| 389 |
+
]
|
| 390 |
+
],
|
| 391 |
+
"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)."
|
| 392 |
+
}
|