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preprocessed/DualArmLiftBall-v1/norm_stats.json

@@ -0,0 +1,230 @@
+{
+  "count": 3630,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera_0",
+    "robot_camera_1",
+    "top_camera"
+  ],
+  "state_dim": 39,
+  "action_dim": 14,
+  "state_mean": [
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+    0.030766565595018794,
+    -2.500533567446979,
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+    0.027171284242684234,
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+    -0.0035949923959463937,
+    0.3064989369383117,
+    0.3064989369383117,
+    0.0
+  ],
+  "state_std": [
+    0.4445418055101389,
+    0.2852635908001853,
+    0.4434404616829292,
+    0.24856103050966438,
+    1.1834531424786576,
+    0.5719169051294374,
+    1.0870081253022954,
+    0.019038229202201547,
+    0.019049475208495772,
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+    0.41077857894363196,
+    0.03051247781930412,
+    0.030761499685606406,
+    0.4207682642469003,
+    0.26260331665218806,
+    0.41585539594285836,
+    0.21251952257159384,
+    1.1756103953472092,
+    0.5745991647347864,
+    1.0838012116227258,
+    0.019043510636771944,
+    0.019038115804019023,
+    0.2949230276777165,
+    0.14182288926348127,
+    0.32171755634728594,
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+    0.4513398185855235,
+    0.1846391854327786,
+    0.3960196125810586,
+    0.030781211078349347,
+    0.030577699196649807,
+    0.12139898004594131,
+    0.12139898004594131,
+    1.0
+  ],
+  "action_mean": [
+    8.42226539127054e-05,
+    -0.04718177652001874,
+    0.022561742135480085,
+    0.04379189985268045,
+    0.0,
+    0.0,
+    0.32231404958677684,
+    -0.0001004858203113628,
+    0.05204002078283917,
+    0.023315407212608115,
+    -0.04379189985268045,
+    0.0,
+    0.0,
+    0.32231404958677684
+  ],
+  "action_std": [
+    0.018266961901366213,
+    0.05094258303451902,
+    0.08345741149117912,
+    0.028875696812275035,
+    0.0001,
+    0.0001,
+    0.9466328028538693,
+    0.01822647646373913,
+    0.04599819185731589,
+    0.08364481169335473,
+    0.028875696812275035,
+    0.0001,
+    0.0001,
+    0.9466328028538693
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/panda-0/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        0,
+        9
+      ]
+    },
+    {
+      "path": "obs/agent/panda-0/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        9,
+        18
+      ]
+    },
+    {
+      "path": "obs/agent/panda-1/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        18,
+        27
+      ]
+    },
+    {
+      "path": "obs/agent/panda-1/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        27,
+        36
+      ]
+    },
+    {
+      "path": "obs/extra/ball_height",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        36,
+        37
+      ]
+    },
+    {
+      "path": "obs/extra/ball_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        37,
+        38
+      ]
+    },
+    {
+      "path": "obs/extra/is_ball_at_target",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        38,
+        39
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      9
+    ],
+    [
+      9,
+      18
+    ],
+    [
+      18,
+      27
+    ],
+    [
+      27,
+      36
+    ],
+    [
+      36,
+      37
+    ],
+    [
+      37,
+      38
+    ]
+  ],
+  "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)."
+}