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horizon step) target counts once, std ddof=0. Read from the per-shard lowdim records of the pre-release streaming loader, windows from sliding_window_with_replication, after the training chain of the pre-release 34-D mixed-embodiment configs. The shard-histogram fitter is a pre-release tool and not part of this tree; scripts/norm_stats/fit_pooled_stats.py fits the same pooled rule, with exact quantiles, from a LeRobot dir.", |
