{
  "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"
  }
}