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preprocessed/OpenDoor-v1/norm_stats.json
ADDED
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| 1 |
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{
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"target_image_size": [
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192,
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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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],
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"state_std": [
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"action_mean": [
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],
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"state_norm_policy": "continuous_only",
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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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"dim": 9,
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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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]
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},
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{
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"path": "obs/extra/door_angle",
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| 121 |
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"dtype": "float32",
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| 122 |
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"kind": "continuous",
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"path": "obs/extra/door_pos",
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| 131 |
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"dtype": "float32",
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"kind": "continuous",
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"dim": 3,
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]
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},
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{
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| 140 |
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"path": "obs/extra/door_yaw",
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| 141 |
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"dtype": "float32",
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| 142 |
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"kind": "continuous",
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| 143 |
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"dim": 1,
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| 144 |
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22,
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| 146 |
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23
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| 147 |
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]
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| 148 |
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},
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| 149 |
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{
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| 150 |
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"path": "obs/extra/handle_angle",
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| 151 |
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"dtype": "float32",
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| 152 |
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"kind": "continuous",
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| 153 |
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"dim": 1,
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23,
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24
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]
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},
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{
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"path": "obs/extra/handle_unlock_progress",
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"dtype": "float32",
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"kind": "continuous",
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"dim": 1,
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24,
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25
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]
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},
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{
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| 170 |
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"path": "obs/extra/is_door_open",
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| 171 |
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"dtype": "bool",
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"kind": "bool",
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"dim": 1,
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| 174 |
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"slice": [
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25,
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| 176 |
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26
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| 177 |
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]
|
| 178 |
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},
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| 179 |
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{
|
| 180 |
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"path": "obs/extra/is_door_unlocked",
|
| 181 |
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"dtype": "bool",
|
| 182 |
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"kind": "bool",
|
| 183 |
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"dim": 1,
|
| 184 |
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"slice": [
|
| 185 |
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26,
|
| 186 |
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27
|
| 187 |
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]
|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
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"path": "obs/extra/opening_progress",
|
| 191 |
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"dtype": "float32",
|
| 192 |
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"kind": "continuous",
|
| 193 |
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"dim": 1,
|
| 194 |
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"slice": [
|
| 195 |
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27,
|
| 196 |
+
28
|
| 197 |
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]
|
| 198 |
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},
|
| 199 |
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{
|
| 200 |
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"path": "obs/extra/target_angle_error",
|
| 201 |
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"dtype": "float32",
|
| 202 |
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"kind": "continuous",
|
| 203 |
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"dim": 1,
|
| 204 |
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"slice": [
|
| 205 |
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28,
|
| 206 |
+
29
|
| 207 |
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]
|
| 208 |
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},
|
| 209 |
+
{
|
| 210 |
+
"path": "obs/extra/target_open_angle",
|
| 211 |
+
"dtype": "float32",
|
| 212 |
+
"kind": "continuous",
|
| 213 |
+
"dim": 1,
|
| 214 |
+
"slice": [
|
| 215 |
+
29,
|
| 216 |
+
30
|
| 217 |
+
]
|
| 218 |
+
}
|
| 219 |
+
],
|
| 220 |
+
"state_norm_slices": [
|
| 221 |
+
[
|
| 222 |
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0,
|
| 223 |
+
9
|
| 224 |
+
],
|
| 225 |
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[
|
| 226 |
+
9,
|
| 227 |
+
18
|
| 228 |
+
],
|
| 229 |
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[
|
| 230 |
+
18,
|
| 231 |
+
19
|
| 232 |
+
],
|
| 233 |
+
[
|
| 234 |
+
19,
|
| 235 |
+
22
|
| 236 |
+
],
|
| 237 |
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[
|
| 238 |
+
22,
|
| 239 |
+
23
|
| 240 |
+
],
|
| 241 |
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[
|
| 242 |
+
23,
|
| 243 |
+
24
|
| 244 |
+
],
|
| 245 |
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[
|
| 246 |
+
24,
|
| 247 |
+
25
|
| 248 |
+
],
|
| 249 |
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[
|
| 250 |
+
27,
|
| 251 |
+
28
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
28,
|
| 255 |
+
29
|
| 256 |
+
],
|
| 257 |
+
[
|
| 258 |
+
29,
|
| 259 |
+
30
|
| 260 |
+
]
|
| 261 |
+
],
|
| 262 |
+
"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)."
|
| 263 |
+
}
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