DualArmOpenFridge-v1/norm_stats.json

{
  "count": 10218,
  "target_image_size": [
    192,
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  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera_0",
    "robot_camera_1",
    "top_camera"
  ],
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  "action_dim": 20,
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  "state_norm_policy": "continuous_only",
  "state_fields": [
    {
      "path": "obs/agent/mobile_panda-0/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        0,
        12
      ]
    },
    {
      "path": "obs/agent/mobile_panda-0/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        12,
        24
      ]
    },
    {
      "path": "obs/agent/mobile_panda-1/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        24,
        36
      ]
    },
    {
      "path": "obs/agent/mobile_panda-1/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        36,
        48
      ]
    },
    {
      "path": "obs/extra/door_handle_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        48,
        51
      ]
    },
    {
      "path": "obs/extra/fridge_door_angles",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 2,
      "slice": [
        51,
        53
      ]
    },
    {
      "path": "obs/extra/fridge_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        53,
        56
      ]
    },
    {
      "path": "obs/extra/left_robot_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        56,
        59
      ]
    },
    {
      "path": "obs/extra/object_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        59,
        62
      ]
    },
    {
      "path": "obs/extra/right_robot_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        62,
        65
      ]
    },
    {
      "path": "obs/extra/table_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        65,
        68
      ]
    },
    {
      "path": "obs/extra/task_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 2,
      "slice": [
        68,
        70
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      12
    ],
    [
      12,
      24
    ],
    [
      24,
      36
    ],
    [
      36,
      48
    ],
    [
      48,
      51
    ],
    [
      51,
      53
    ],
    [
      53,
      56
    ],
    [
      56,
      59
    ],
    [
      59,
      62
    ],
    [
      62,
      65
    ],
    [
      65,
      68
    ],
    [
      68,
      70
    ]
  ],
  "notes": "State stats computed ONLY on continuous dims; discrete/bool dims keep raw (mean=0,std=1). All stats computed over aligned length T (drop last obs to align with actions)."
}