| { | |
| "action_bounds_high": [ | |
| 1.5, | |
| 0.6108652353286743 | |
| ], | |
| "action_bounds_low": [ | |
| -1.5, | |
| -0.6108652353286743 | |
| ], | |
| "action_contract": { | |
| "block_layout": "[v0, steering0, v1, steering1]", | |
| "channels": [ | |
| "velocity_mps", | |
| "steering_rad" | |
| ], | |
| "normalization": "train_valid_rows_zscore", | |
| "normalized_dataset_key_is_not_training_input": "action_normalized", | |
| "source_key": "action", | |
| "units": [ | |
| "meter_per_second", | |
| "radian" | |
| ] | |
| }, | |
| "action_stats": { | |
| "count": 1676800, | |
| "fit_split": "train", | |
| "mean": [ | |
| 0.011394362082768885, | |
| 0.00011287550831609133 | |
| ], | |
| "std": [ | |
| 0.6519906367268009, | |
| 0.30321954355307507 | |
| ], | |
| "valid_rows_only": true | |
| }, | |
| "frameskip": 2, | |
| "image_layout": "uint8_NHWC_to_float_NCHW", | |
| "image_normalization": "imagenet", | |
| "image_size": 224, | |
| "schema_name": "parking-lewm-preprocessor", | |
| "schema_version": 2, | |
| "state_contract": { | |
| "channels": [ | |
| "x_body_center_m", | |
| "y_body_center_m", | |
| "sin_theta_tractor", | |
| "cos_theta_tractor", | |
| "velocity_mps", | |
| "steering_rad" | |
| ], | |
| "heading_encoding": "sin_cos", | |
| "heading_unit": "radian", | |
| "position_unit": "meter", | |
| "reference": "body_center" | |
| }, | |
| "task": "tractor" | |
| } | |