| { | |
| "action_bounds_high": [ | |
| 1.5, | |
| 0.7853981852531433 | |
| ], | |
| "action_bounds_low": [ | |
| -1.5, | |
| -0.7853981852531433 | |
| ], | |
| "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": 3079200, | |
| "fit_split": "train", | |
| "mean": [ | |
| 0.055474688759981954, | |
| -0.00011847857910481412 | |
| ], | |
| "std": [ | |
| 0.6270671651310721, | |
| 0.27024167674485294 | |
| ], | |
| "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": [ | |
| "tractor_rear_x_m", | |
| "tractor_rear_y_m", | |
| "sin_theta_tractor", | |
| "cos_theta_tractor", | |
| "sin_theta_trailer", | |
| "cos_theta_trailer", | |
| "velocity_mps", | |
| "steering_rad" | |
| ], | |
| "heading_encoding": "sin_cos", | |
| "heading_unit": "radian", | |
| "position_unit": "meter", | |
| "reference": "tractor_rear_axle" | |
| }, | |
| "task": "tractor_trailer" | |
| } | |