molmoact2-fixed / step1000 /norm_stats.json
PolinAvA's picture
Upload folder using huggingface_hub
d0793c3 verified
Raw
History Blame Contribute Delete
7.81 kB
{
"format": "molmoact2_norm_stats.v1",
"norm_mode": "mean_std",
"metadata_by_tag": {
"robocasa_padding": {
"action_key": "action",
"state_keys": [
"observation.state"
],
"camera_keys": [
"observation.images.robot0_eye_in_hand",
"observation.images.robot0_agentview_left",
"observation.images.robot0_agentview_right"
],
"normalize_gripper": false,
"action_dim": 12,
"action_horizon": 15,
"n_action_steps": 15,
"setup_type": "single panda omron robot in robocasa",
"control_mode": "robocasa panda-omron action",
"action_stats": {
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
-2.781099557876587,
-1.6407934427261353,
-2.7493984699249268,
-2.9508564472198486,
-2.7826988697052,
0.17983438074588776,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
2.7449073791503906,
1.6668277978897095,
2.7546653747558594,
-0.1936211884021759,
2.7786083221435547,
4.402013778686523,
1.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.010418229819396566,
0.28233935319840636,
-0.015346633420959944,
-2.0060878874674715,
-0.029448930257783886,
2.350942437431684,
0.4390250813949694
],
"std": [
1.0,
1.0,
1.0,
1.0,
1.0,
0.3170372143097277,
0.4863630998896905,
0.27477375809610444,
0.48806966037647037,
0.528105567983804,
0.4517944470893175,
0.44171628153080567
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
-0.2879620949867506,
-0.5702219304684566,
-0.31101638810433413,
-2.5622234922052725,
-0.5101021838814974,
1.7376836093987995,
8.3274762776141e-05
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.32190872731317344,
0.7405054873177153,
0.2737893247287367,
-1.5075067942029405,
0.4329542718063284,
2.804162424656418,
0.8917437724235555
],
"q10": [
0.0,
0.0,
0.0,
0.0,
0.0,
-0.2014563967491066,
-0.1953558605308627,
-0.20948523622127932,
-2.402722104277799,
-0.3766226599271436,
1.9723782378158212,
0.006328163222238114
],
"q90": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.226670788411882,
0.6598602025239771,
0.17603345191458397,
-1.6119685483207011,
0.3092560943750579,
2.7008573894589345,
0.8737818408325101
],
"mask": [
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
false
],
"names": [
"robocasa_action_0",
"robocasa_action_1",
"robocasa_action_2",
"robocasa_action_3",
"robocasa_action_4",
"robocasa_action_5",
"robocasa_action_6",
"robocasa_action_7",
"robocasa_action_8",
"robocasa_action_9",
"robocasa_action_10",
"robocasa_action_11"
],
"count": [
17758044.0
]
},
"state_stats": {
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
-2.6536705493927,
-1.6156227588653564,
-2.6781487464904785,
-2.9409868717193604,
-2.6705946922302246,
0.24893812835216522,
-2.757359266281128,
0.0,
0.0
],
"max": [
1.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
2.6687583923339844,
1.5840554237365723,
2.666306734085083,
-0.29779934883117676,
2.6624162197113037,
4.272191524505615,
2.755643367767334,
0.0,
0.0
],
"mean": [
0.3927326432557614,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.011081824850861873,
0.27280296447760194,
-0.01550719225628586,
-2.01647228106023,
-0.029620826332964655,
2.3483866081585507,
0.09636965416886735,
0.0,
0.0
],
"std": [
0.4070640216658998,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
0.31291266868924655,
0.4934370267472678,
0.2728791258795487,
0.48437020229024425,
0.521435680610052,
0.44821751701382595,
0.7352730961005634,
1.0,
1.0
],
"q01": [
1.6414552399718753e-05,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
-0.2793009809782748,
-0.5873924424866738,
-0.3058546817065916,
-2.5639055042030354,
-0.491431808753978,
1.7381500993283228,
-0.5086147192989775,
0.0,
0.0
],
"q99": [
0.7968550629755542,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.3148177895778054,
0.7235689468221655,
0.2683897323238184,
-1.530780071911146,
0.415067150345451,
2.7863710743039887,
0.6952765173061115,
0.0,
0.0
],
"q10": [
0.005005809072924616,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
-0.1994457930505723,
-0.2381088441987148,
-0.2103897594636481,
-2.421918892949847,
-0.3725951094142233,
1.961410109454104,
-0.35782982482940473,
0.0,
0.0
],
"q90": [
0.7734412581580631,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.22605189533019984,
0.6543162155730768,
0.17689204963635444,
-1.6243810394635305,
0.30497772553178637,
2.696376125344824,
0.5494813775877777,
0.0,
0.0
],
"mask": [
false,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true
],
"names": [
"robocasa_state_0",
"robocasa_state_1",
"robocasa_state_2",
"robocasa_state_3",
"robocasa_state_4",
"robocasa_state_5",
"robocasa_state_6",
"robocasa_state_7",
"robocasa_state_8",
"robocasa_state_9",
"robocasa_state_10",
"robocasa_state_11",
"robocasa_state_12",
"robocasa_state_13",
"robocasa_state_14",
"robocasa_state_15"
],
"count": [
17758044.0
]
}
}
}
}