| { |
| "checksum": "sha256:0f2d2e93daf57e49bd592ac4f4d59a39e09255731afce1adbce1e8009d2fc584", |
| "embodiments": { |
| "arx_x5_joint": { |
| "action_fields": [ |
| { |
| "absolute": true, |
| "key": "action.left_joint", |
| "normalization": "mean_std", |
| "per_horizon_statistics": null, |
| "size": 6, |
| "statistics": { |
| "clip_max": [ |
| 5.0, |
| 5.0, |
| 5.0, |
| 5.0, |
| 5.0, |
| 5.0 |
| ], |
| "clip_min": [ |
| -5.0, |
| -5.0, |
| -5.0, |
| -5.0, |
| -5.0, |
| -5.0 |
| ], |
| "mean": [ |
| -0.21345163076343737, |
| 0.9475297910703175, |
| 0.6971629418885074, |
| -0.33559353112606727, |
| 0.048342311767091965, |
| -0.007867541626178106 |
| ], |
| "std": [ |
| 0.3495237124192252, |
| 0.8883608562896655, |
| 0.7287301397969578, |
| 0.6647301001791042, |
| 0.3065844712062486, |
| 0.5876864065890637 |
| ] |
| } |
| }, |
| { |
| "absolute": true, |
| "key": "action.left_gripper", |
| "normalization": "mean_std", |
| "per_horizon_statistics": null, |
| "size": 1, |
| "statistics": { |
| "clip_max": [ |
| 5.0 |
| ], |
| "clip_min": [ |
| -5.0 |
| ], |
| "mean": [ |
| 0.750848012665582 |
| ], |
| "std": [ |
| 0.36426874384022623 |
| ] |
| } |
| }, |
| { |
| "absolute": true, |
| "key": "action.right_joint", |
| "normalization": "mean_std", |
| "per_horizon_statistics": null, |
| "size": 6, |
| "statistics": { |
| "clip_max": [ |
| 5.0, |
| 5.0, |
| 5.0, |
| 5.0, |
| 5.0, |
| 5.0 |
| ], |
| "clip_min": [ |
| -5.0, |
| -5.0, |
| -5.0, |
| -5.0, |
| -5.0, |
| -5.0 |
| ], |
| "mean": [ |
| 0.17963083705234606, |
| 0.8293510420991153, |
| 0.6144317915484825, |
| -0.3420386721908701, |
| -0.047628843112447694, |
| 0.012919351176478373 |
| ], |
| "std": [ |
| 0.3236330467132303, |
| 0.8712694994721721, |
| 0.7065926043648808, |
| 0.6177672252900154, |
| 0.2917066465258362, |
| 0.5352805535171008 |
| ] |
| } |
| }, |
| { |
| "absolute": true, |
| "key": "action.right_gripper", |
| "normalization": "mean_std", |
| "per_horizon_statistics": null, |
| "size": 1, |
| "statistics": { |
| "clip_max": [ |
| 5.0 |
| ], |
| "clip_min": [ |
| -5.0 |
| ], |
| "mean": [ |
| 0.7731288009029811 |
| ], |
| "std": [ |
| 0.35621044484014597 |
| ] |
| } |
| } |
| ], |
| "embodiment_id": 0, |
| "max_action_dim": 32, |
| "max_state_dim": 64, |
| "state_fields": [ |
| { |
| "absolute": true, |
| "key": "state.left_joint", |
| "normalization": "mean_std", |
| "per_horizon_statistics": null, |
| "size": 6, |
| "statistics": { |
| "clip_max": [ |
| 5.0, |
| 5.0, |
| 5.0, |
| 5.0, |
| 5.0, |
| 5.0 |
| ], |
| "clip_min": [ |
| -5.0, |
| -5.0, |
| -5.0, |
| -5.0, |
| -5.0, |
| -5.0 |
| ], |
| "mean": [ |
| -0.21333078517587348, |
| 0.9471781197616171, |
| 0.6969601000534174, |
| -0.3355703524276811, |
| 0.048393911329874736, |
| -0.007828987475897192 |
| ], |
| "std": [ |
| 0.34943852781524, |
| 0.8884177262322189, |
| 0.7287688124466624, |
| 0.6645685156736019, |
| 0.3064417844866855, |
| 0.5876021211662332 |
| ] |
| } |
| }, |
| { |
| "absolute": true, |
| "key": "state.left_gripper", |
| "normalization": "mean_std", |
| "per_horizon_statistics": null, |
| "size": 1, |
| "statistics": { |
| "clip_max": [ |
| 5.0 |
| ], |
| "clip_min": [ |
| -5.0 |
| ], |
| "mean": [ |
| 0.758900169786875 |
| ], |
| "std": [ |
| 0.3541087135633469 |
| ] |
| } |
| }, |
| { |
| "absolute": true, |
| "key": "state.right_joint", |
| "normalization": "mean_std", |
| "per_horizon_statistics": null, |
| "size": 6, |
| "statistics": { |
| "clip_max": [ |
| 5.0, |
| 5.0, |
| 5.0, |
| 5.0, |
| 5.0, |
| 5.0 |
| ], |
| "clip_min": [ |
| -5.0, |
| -5.0, |
| -5.0, |
| -5.0, |
| -5.0, |
| -5.0 |
| ], |
| "mean": [ |
| 0.17959844623354346, |
| 0.8289068101019887, |
| 0.6140856839972025, |
| -0.34182602286834635, |
| -0.04759846853985469, |
| 0.013036080149607205 |
| ], |
| "std": [ |
| 0.32356247340594896, |
| 0.8712399264956522, |
| 0.706502473502505, |
| 0.617553242161418, |
| 0.2915975299050969, |
| 0.5349420273473967 |
| ] |
| } |
| }, |
| { |
| "absolute": true, |
| "key": "state.right_gripper", |
| "normalization": "mean_std", |
| "per_horizon_statistics": null, |
| "size": 1, |
| "statistics": { |
| "clip_max": [ |
| 5.0 |
| ], |
| "clip_min": [ |
| -5.0 |
| ], |
| "mean": [ |
| 0.7798121387324574 |
| ], |
| "std": [ |
| 0.3471969111948565 |
| ] |
| } |
| } |
| ] |
| } |
| }, |
| "image": { |
| "model_input_range": "uint8", |
| "raw_range": "uint8" |
| }, |
| "provenance": { |
| "action_space": "robodojo_joint_14d", |
| "normalization": "zscore", |
| "relative_joint_action": false, |
| "source": "robodojo-joint-posttraining", |
| "statistics_location": "Embedded in this transform_bundle.json; no external statistics file required." |
| }, |
| "schema_version": "1" |
| } |
|
|
