| { | |
| "format": "molmoact2_norm_stats.v1", | |
| "norm_mode": "q01_q99", | |
| "metadata_by_tag": { | |
| "trlc_dk1": { | |
| "action_key": "action", | |
| "state_keys": [ | |
| "observation.state" | |
| ], | |
| "camera_keys": [ | |
| "observation.images.front", | |
| "observation.images.wrist" | |
| ], | |
| "normalize_gripper": false, | |
| "action_dim": 32, | |
| "action_horizon": 30, | |
| "n_action_steps": 30, | |
| "setup_type": "single trlc dk1 6-dof robot arm doing tabletop pick-and-place", | |
| "control_mode": "absolute joint position", | |
| "action_stats": { | |
| "min": [ | |
| -0.6596117615699768, | |
| -0.01073786523193121, | |
| -0.006135923322290182, | |
| -1.587670087814331, | |
| -0.6580777764320374, | |
| -1.0216312408447266, | |
| -0.26424360275268555 | |
| ], | |
| "max": [ | |
| 0.9725438356399536, | |
| 2.3163108825683594, | |
| 1.998776912689209, | |
| 0.5967185497283936, | |
| 0.9341943264007568, | |
| 2.5372042655944824, | |
| 1.0176817178726196 | |
| ], | |
| "mean": [ | |
| 0.050886338909928754, | |
| 0.9164495127840454, | |
| 0.6814116779469306, | |
| -0.5790669377129548, | |
| 0.04154442892359571, | |
| 0.24470043271630373, | |
| 0.5366514920847849 | |
| ], | |
| "std": [ | |
| 0.20963307308516296, | |
| 0.6893565302892, | |
| 0.38609243038602625, | |
| 0.2223237042540622, | |
| 0.09358062548876926, | |
| 0.3699542496101996, | |
| 0.21566541525600302 | |
| ], | |
| "count": [ | |
| 516650.0 | |
| ], | |
| "q01": [ | |
| -0.1795301394611773, | |
| 0.006698687633792632, | |
| 0.18067968834449735, | |
| -0.9343828596658045, | |
| -0.014200311599344935, | |
| -0.04261112133175349, | |
| 0.3104157070355351 | |
| ], | |
| "q10": [ | |
| -0.1633105956287278, | |
| 0.018273862950066472, | |
| 0.20386240829224556, | |
| -0.8019305457192227, | |
| 0.0016855655157250896, | |
| -0.0229454674384146, | |
| 0.33917713340835565 | |
| ], | |
| "q50": [ | |
| 0.01924426443824613, | |
| 1.1080908832593388, | |
| 0.767197139369865, | |
| -0.5738058164978468, | |
| 0.041487266255745205, | |
| 0.22704633640039895, | |
| 0.5111449183444504 | |
| ], | |
| "q90": [ | |
| 0.33857711547313585, | |
| 1.6978181793221951, | |
| 1.1253950748539856, | |
| -0.366847159392821, | |
| 0.08125890942288896, | |
| 0.5619599573537976, | |
| 0.8101807322238713 | |
| ], | |
| "q99": [ | |
| 0.36531049396324816, | |
| 1.7748607114112172, | |
| 1.1902795888075874, | |
| -0.30520700916480226, | |
| 0.09899838194139599, | |
| 0.5893055165683199, | |
| 0.819650314538112 | |
| ], | |
| "names": [ | |
| "joint_1.pos", | |
| "joint_2.pos", | |
| "joint_3.pos", | |
| "joint_4.pos", | |
| "joint_5.pos", | |
| "joint_6.pos", | |
| "gripper.pos" | |
| ], | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ] | |
| }, | |
| "state_stats": { | |
| "min": [ | |
| -0.6425955891609192, | |
| -0.005912871100008488, | |
| -0.02079041674733162, | |
| -1.581406831741333, | |
| -0.6391623020172119, | |
| -1.024452567100525, | |
| -0.003368348116055131 | |
| ], | |
| "max": [ | |
| 0.9363317489624023, | |
| 2.316128730773926, | |
| 1.9914931058883667, | |
| 0.6033035516738892, | |
| 0.9355688095092773, | |
| 2.5324254035949707, | |
| 0.9624953269958496 | |
| ], | |
| "mean": [ | |
| 0.050502462864121314, | |
| 0.9262252652416936, | |
| 0.6833017695244291, | |
| -0.579134123789385, | |
| 0.04138276677312678, | |
| 0.24460639203522097, | |
| 0.5362459497758393 | |
| ], | |
| "std": [ | |
| 0.2067848046374308, | |
| 0.6732769110472349, | |
| 0.38198622472405575, | |
| 0.21916095401796085, | |
| 0.09289129561191611, | |
| 0.36846609786288576, | |
| 0.2107277002959093 | |
| ], | |
| "q01": [ | |
| -0.17658370926608524, | |
| 0.006697771378368503, | |
| 0.1799638942391826, | |
| -0.9234082297212922, | |
| -0.01468553319474912, | |
| -0.04321761578156479, | |
| 0.29540319770167733 | |
| ], | |
| "q99": [ | |
| 0.36036383163544566, | |
| 1.7672535692117077, | |
| 1.1794498305967507, | |
| -0.31064555849189396, | |
| 0.09983060844686711, | |
| 0.5886064089607345, | |
| 0.8077206694687197 | |
| ], | |
| "q10": [ | |
| -0.161120370357699, | |
| 0.019174650152071523, | |
| 0.20405779687474462, | |
| -0.7981323134567474, | |
| 0.0010159810888608937, | |
| -0.025247132863375505, | |
| 0.34141617046455636 | |
| ], | |
| "q90": [ | |
| 0.332766032400272, | |
| 1.6899109681308124, | |
| 1.1197596620330517, | |
| -0.36852273569724064, | |
| 0.08195507997163555, | |
| 0.5628335856563867, | |
| 0.8006713239117158 | |
| ], | |
| "count": [ | |
| 516650.0 | |
| ], | |
| "names": [ | |
| "joint_1.pos", | |
| "joint_2.pos", | |
| "joint_3.pos", | |
| "joint_4.pos", | |
| "joint_5.pos", | |
| "joint_6.pos", | |
| "gripper.pos" | |
| ], | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ] | |
| } | |
| } | |
| } | |
| } |