| """ | |
| 归一化常量 - point3_v30 | |
| 从 data/each-point-V30/point3_v30/meta/stats.json 自动生成 | |
| """ | |
| import numpy as np | |
| # ====== 归一化统计量（从 point3_v30 数据集提取）====== | |
| # State 归一化参数 (observation.state) - 14D | |
| STATE_MEAN = np.array([ | |
| -0.21596119232660482, | |
| 1.2207692969225374, | |
| -1.0096915239590631, | |
| 0.06665300637731363, | |
| 0.8658904797422844, | |
| -0.10243313168005087, | |
| 0.06063812544194792, | |
| 0.023706428706645966, | |
| -0.031137486115619922, | |
| -0.1523554427025122, | |
| -0.00582632172151972, | |
| 0.5936174524881294, | |
| -0.050186213915922054, | |
| 7.000005638347541e-05 | |
| ], dtype=np.float32) | |
| STATE_STD = np.array([ | |
| 0.22912212245489327, | |
| 0.8531831383553732, | |
| 0.5894133692031163, | |
| 0.06660771562770082, | |
| 0.19870830588697294, | |
| 0.15119653380079995, | |
| 0.030942214621278254, | |
| 0.0, | |
| 7.220514537896655e-05, | |
| 0.0004696939228577277, | |
| 1.6153864865645676e-09, | |
| 0.0017753155458789874, | |
| 0.00010829307026397923, | |
| 4.550171910212743e-08 | |
| ], dtype=np.float32) | |
| # Action 反归一化参数 - 14D (left_arm 7D + right_arm 7D) | |
| ACTION_MEAN = np.array([ | |
| -0.21606439613876077, | |
| 1.2051186572374768, | |
| -1.0383560313384674, | |
| 0.07103687554190287, | |
| 0.8088382380255467, | |
| -0.10317745810504365, | |
| 0.061444765060923084, | |
| 0.023654008747490077, | |
| -0.03171321288973903, | |
| -0.17187524861071532, | |
| -0.005878656783530805, | |
| 0.5043942184018506, | |
| -0.051233122995382026, | |
| -0.021100035854290898 | |
| ], dtype=np.float32) | |
| ACTION_STD = np.array([ | |
| 0.23080246069430865, | |
| 0.8366779817931731, | |
| 0.5930560500708245, | |
| 0.07621794983645165, | |
| 0.23375717676174276, | |
| 0.1546705690915461, | |
| 0.03634931021459363, | |
| 3.581398692335805e-05, | |
| 2.7334416730016675e-05, | |
| 0.00044864365745036176, | |
| 1.5242100193644467e-09, | |
| 2.576540317068765e-08, | |
| 9.01566114957018e-09, | |
| 9.312128726530881e-10 | |
| ], 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) | |