| { |
| "encoding_id": "rokae_progress_condition_v3", |
| "state_feature": "observation.state", |
| "dtype": "float64", |
| "dimension": 57, |
| "layout": { |
| "physical_state": { |
| "start": 0, |
| "stop": 30, |
| "names": [ |
| "left_joint_pos0", |
| "left_joint_pos1", |
| "left_joint_pos2", |
| "left_joint_pos3", |
| "left_joint_pos4", |
| "left_joint_pos5", |
| "left_joint_pos6", |
| "left_cart_pos0", |
| "left_cart_pos1", |
| "left_cart_pos2", |
| "left_cart_pos3", |
| "left_cart_pos4", |
| "left_cart_pos5", |
| "left_psi", |
| "left_gripper_pos", |
| "right_joint_pos0", |
| "right_joint_pos1", |
| "right_joint_pos2", |
| "right_joint_pos3", |
| "right_joint_pos4", |
| "right_joint_pos5", |
| "right_joint_pos6", |
| "right_cart_pos0", |
| "right_cart_pos1", |
| "right_cart_pos2", |
| "right_cart_pos3", |
| "right_cart_pos4", |
| "right_cart_pos5", |
| "right_psi", |
| "right_gripper_pos" |
| ], |
| "source_dtype": "float32" |
| }, |
| "skill_onehot": { |
| "start": 30, |
| "stop": 38, |
| "vocabulary": [ |
| "approach", |
| "grasp", |
| "place", |
| "pour", |
| "retreat", |
| "return", |
| "transport", |
| "stack" |
| ] |
| }, |
| "pos_onehot": { |
| "start": 38, |
| "stop": 43, |
| "vocabulary": [ |
| "lower right", |
| "none", |
| "upper right", |
| "top1", |
| "top2" |
| ] |
| }, |
| "obj_onehot": { |
| "start": 43, |
| "stop": 46, |
| "vocabulary": [ |
| "bread", |
| "kettle", |
| "cup" |
| ] |
| }, |
| "progress_fourier": { |
| "start": 46, |
| "stop": 57, |
| "names": [ |
| "progress", |
| "progress_sin(1pi)", |
| "progress_cos(1pi)", |
| "progress_sin(2pi)", |
| "progress_cos(2pi)", |
| "progress_sin(3pi)", |
| "progress_cos(3pi)", |
| "progress_sin(4pi)", |
| "progress_cos(4pi)", |
| "progress_sin(5pi)", |
| "progress_cos(5pi)" |
| ], |
| "formula": "[p, sin(pi*k*p), cos(pi*k*p) for k=1..5]" |
| } |
| }, |
| "progress_label": { |
| "version": "endpoint_state_distance_v1", |
| "formula": "clip(1 - ||(x_t - x_end) * weights||_2 / ||(x_start - x_end) * weights||_2, 0, 1)", |
| "state_source": "observation.state", |
| "fields": [ |
| "right_joint_pos0", |
| "right_joint_pos1", |
| "right_joint_pos2", |
| "right_joint_pos3", |
| "right_joint_pos4", |
| "right_joint_pos5", |
| "right_joint_pos6", |
| "right_gripper_pos" |
| ], |
| "weights": [ |
| 1, |
| 1, |
| 1, |
| 1, |
| 1, |
| 1, |
| 1, |
| 1 |
| ], |
| "units": "source_native; joint and gripper channels have explicit weights", |
| "computation_dtype": "float64", |
| "endpoint_rule": "final frame of every segment is written as exactly 1.0" |
| }, |
| "normalization_statistics_scope": "all selected episodes used for final training; no held-out partition in this export", |
| "derived_condition_rules": { |
| "stack_atomic": { |
| "object": "cup", |
| "position_skills": [ |
| "approach", |
| "grasp", |
| "retreat" |
| ], |
| "pickup_positions": { |
| "right_lower": "lower right", |
| "right_upper": "upper right" |
| }, |
| "stack_cycle_positions": { |
| "1": "top1", |
| "2": "top2" |
| } |
| } |
| }, |
| "labels_file": "labels.csv", |
| "condition_fields_in_vla_parquet": "removed; raw per-frame values are in labels.csv", |
| "pi05_stock_preprocessing": { |
| "state_normalization": "quantiles using q01/q99 to approximately [-1, 1]", |
| "state_encoding": "256-bin discretization, then serialized into the Task/State text prompt", |
| "separate_skill_or_progress_channel": false, |
| "note": "observation.state is a structured dataset field, but stock PI0.5 consumes it through language tokens" |
| }, |
| "normalization_policy": { |
| "physical_state": "train-derived statistics for channels 0:30", |
| "skill_pos_obj_progress": "identity under MEAN_STD for channels 30:57", |
| "other_normalization_modes": "processor must apply an equivalent conditional-channel mask" |
| } |
| } |
|
|
