{
  "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
        ]
      }
    }
  }
}