{
  "count": 10218,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera_0",
    "robot_camera_1",
    "top_camera"
  ],
  "state_dim": 70,
  "action_dim": 20,
  "state_mean": [
    -0.4145825810919155,
    -0.5492516777390211,
    -3.1967656565073606,
    0.09724014720525123,
    -0.3868365250570341,
    0.05060048201175728,
    -1.9221999445442677,
    0.016820326294009424,
    1.9706749315421908,
    0.7835465238347028,
    0.025895826207887367,
    0.026043289152136738,
    -0.02968740992636862,
    0.03498687818384216,
    -0.1083102040775901,
    -0.001238408722287958,
    0.0029473638600613855,
    -0.01050155017878412,
    -0.002518829424753363,
    0.0002766567142836954,
    -0.007547474328955824,
    0.00037783984984765675,
    0.002670179417947556,
    0.002801716670764905,
    -0.4418267204719987,
    -0.648909424896486,
    -2.569429181616795,
    -0.23332675697904132,
    -0.7192576289013608,
    -0.3661953075699437,
    -2.3245542427872374,
    -0.008891363357514892,
    2.360705405071211,
    0.788644640132811,
    0.03999991782438349,
    0.039999677064464174,
    -0.02065560115933637,
    -0.0562746263851271,
    -0.1085484311614366,
    -0.011341826603840614,
    0.0047338221694769094,
    -0.018977625700443233,
    0.0011021911434122929,
    -0.00044324965648417225,
    0.00022189834158121036,
    0.00018049318445410606,
    -3.047635304614612e-07,
    -5.7399559018153e-06,
    -1.1159264957935149,
    -0.2935782854198639,
    1.065000057220459,
    1.4555082997797657,
    0.0,
    -1.4909264957935149,
    -0.5135782842277712,
    0.75,
    -0.4145825810919155,
    -0.5492516777390211,
    -3.1967656565073606,
    -1.237429726131685,
    -0.4067320236625976,
    0.7790493181095266,
    -0.4418267204719987,
    -0.648909424896486,
    -2.569429181616795,
    -1.5,
    0.5,
    0.6000000238418579,
    1.0,
    0.2642712414693153
  ],
  "state_std": [
    0.31809049648554993,
    0.5489740716619049,
    0.7813216241572891,
    0.12044812820063208,
    0.37734542479333516,
    0.157102694183787,
    0.38457639286043066,
    0.04366874563964492,
    0.43803614543905456,
    0.08672428131425242,
    0.013887993934807576,
    0.014037324257602547,
    0.23267262169142808,
    0.22097721425645067,
    0.4909233226907074,
    0.06761818259791531,
    0.17777849801858156,
    0.08211278866267907,
    0.20475504280062864,
    0.015724164176657267,
    0.08039329106719666,
    0.01780680619023091,
    0.03310338629215035,
    0.034409591109682613,
    0.2539528299733697,
    0.7051517396534128,
    1.1495032828394263,
    0.16463519744639082,
    0.04418700151034581,
    0.2669546079353504,
    0.027864482722972143,
    0.009854666797489588,
    0.01825939870093184,
    0.012798883302543982,
    0.00010001203133777873,
    0.000100018602289046,
    0.0870617095798542,
    0.14042237248803452,
    0.3387932104061712,
    0.045488736727459254,
    0.024993366968642874,
    0.10951442597170573,
    0.013947059689686663,
    0.007059022852102747,
    0.007304747690730199,
    0.005909896585872246,
    0.0001753790021979181,
    0.00017808350753671626,
    0.048206866571943216,
    0.08038693030608614,
    0.0001,
    0.8581241999856781,
    0.0001,
    0.048206866571943216,
    0.08038693030608614,
    0.0001,
    0.31809049648554993,
    0.5489740716619049,
    0.7813216241572891,
    0.29769851667832686,
    0.32599138672270417,
    0.18626854631329604,
    0.2539528299733697,
    0.7051517396534128,
    1.1495032828394263,
    0.0001,
    0.0001,
    0.0001,
    0.0001,
    0.3590979567691595
  ],
  "action_mean": [
    -0.42038940995716334,
    -0.5424197762001457,
    -3.219950435180374,
    -0.0056058527596614255,
    0.004742785321392176,
    -0.0018138731608339008,
    -0.00027808027220931194,
    0.0031713522911141416,
    0.0023187307292334477,
    -0.11900567625758467,
    -0.445859105720388,
    -0.6599461361554406,
    -2.592466201141031,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0,
    1.0
  ],
  "action_std": [
    0.3202554279443272,
    0.5567124954111152,
    0.7371272300111718,
    0.03867954457043313,
    0.027029893216959366,
    0.03299827138452788,
    0.002946758926862088,
    0.012886531381010717,
    0.01030580144022123,
    0.9928935788988027,
    0.25198094734526216,
    0.7002311489119973,
    1.130846511637024,
    0.0001,
    0.0001,
    0.0001,
    0.0001,
    0.0001,
    0.0001,
    0.0001
  ],
  "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)."
}