| """ | |
| 归一化常量 - point2_v30 | |
| 从 data/each-point-V30/point2_v30/meta/stats.json 自动生成 | |
| """ | |
| import numpy as np | |
| # ====== 归一化统计量（从 point2_v30 数据集提取）====== | |
| # State 归一化参数 (observation.state) - 14D | |
| STATE_MEAN = np.array([ | |
| -0.2105864585016499, | |
| 1.3310560174962338, | |
| -1.1387206377712409, | |
| 0.06850543825862183, | |
| 0.7681250187706506, | |
| -0.08478798886625565, | |
| 0.05835128650106446, | |
| 0.02370642884928235, | |
| -0.031137483014934606, | |
| -0.15235544200127704, | |
| -0.006249059893535669, | |
| 0.5941734570462274, | |
| -0.05018620472882003, | |
| 7.000005561990393e-05 | |
| ], dtype=np.float32) | |
| STATE_STD = np.array([ | |
| 0.2400051179695121, | |
| 0.9237869478542775, | |
| 0.7118947011828334, | |
| 0.08144195556664052, | |
| 0.23071447286401414, | |
| 0.179722397158341, | |
| 0.03285219262761961, | |
| 4.953138735344596e-10, | |
| 8.388984945120932e-05, | |
| 0.0004753077244397484, | |
| 0.0008577420475323502, | |
| 0.002150086383523521, | |
| 0.00010284846023543875, | |
| 3.132144638762018e-08 | |
| ], dtype=np.float32) | |
| # Action 反归一化参数 - 14D (left_arm 7D + right_arm 7D) | |
| ACTION_MEAN = np.array([ | |
| -0.2109139475252697, | |
| 1.3108079862689859, | |
| -1.1673434242464766, | |
| 0.07370919146763717, | |
| 0.7044337684964903, | |
| -0.0844366189408058, | |
| 0.057783793058325136, | |
| 0.02365400559923624, | |
| -0.03171325462574329, | |
| -0.17187520877501722, | |
| -0.005509715998848856, | |
| 0.5043942625478558, | |
| -0.05123314912850634, | |
| -0.02110003694254407 | |
| ], dtype=np.float32) | |
| ACTION_STD = np.array([ | |
| 0.24125223557585568, | |
| 0.9046525674814566, | |
| 0.7146504447920251, | |
| 0.09142734038550057, | |
| 0.25411883130066965, | |
| 0.18318653299101498, | |
| 0.037955622978664776, | |
| 2.7160945227379783e-05, | |
| 5.362838404012091e-06, | |
| 0.0004134820247080275, | |
| 0.001425757586551424, | |
| 2.979843662272417e-08, | |
| 9.064657920470249e-09, | |
| 1.5702117327601945e-05 | |
| ], dtype=np.float32) | |
| # Image 归一化参数（ImageNet 标准） | |
| IMAGE_MEAN = np.array([0.485, 0.456, 0.406], dtype=np.float32) | |
| IMAGE_STD = np.array([0.229, 0.224, 0.225], dtype=np.float32) | |