| """ | |
| 归一化常量 - point4_v30 | |
| 从 data/each-point-V30/point4_v30/meta/stats.json 自动生成 | |
| """ | |
| import numpy as np | |
| # ====== 归一化统计量（从 point4_v30 数据集提取）====== | |
| # State 归一化参数 (observation.state) - 14D | |
| STATE_MEAN = np.array([ | |
| -0.21735365385481095, | |
| 1.146649527479852, | |
| -0.8639224236397658, | |
| -0.0366343220295033, | |
| 0.9104707563216103, | |
| -0.021397598130488894, | |
| 0.059362471541857365, | |
| 0.023706428706645966, | |
| -0.031137484798775067, | |
| -0.15235542476220895, | |
| -0.005826317618105161, | |
| 0.5936171133118961, | |
| -0.05018620966114964, | |
| 7.000005880953068e-05 | |
| ], dtype=np.float32) | |
| STATE_STD = np.array([ | |
| 0.2102253805949658, | |
| 0.7658808333158452, | |
| 0.5529057432367724, | |
| 0.07265797427364623, | |
| 0.23469697324617478, | |
| 0.09436715707689124, | |
| 0.03222894862077091, | |
| 0.0, | |
| 7.767954915336072e-05, | |
| 0.0004781704950766074, | |
| 5.168509104714842e-09, | |
| 0.001913202964455008, | |
| 0.00010597815677546606, | |
| 3.859463417203669e-08 | |
| ], dtype=np.float32) | |
| # Action 反归一化参数 - 14D (left_arm 7D + right_arm 7D) | |
| ACTION_MEAN = np.array([ | |
| -0.21809362965479312, | |
| 1.1355306549402504, | |
| -0.8904613166359503, | |
| -0.04333029593342418, | |
| 0.8643201283589087, | |
| -0.023920130371530745, | |
| 0.059623906544497396, | |
| 0.02365400729111893, | |
| -0.03171323145067094, | |
| -0.17187523067041208, | |
| -0.005878658843141073, | |
| 0.5043942354545788, | |
| -0.051233134417770415, | |
| -0.021100036475361048 | |
| ], dtype=np.float32) | |
| ACTION_STD = np.array([ | |
| 0.21219605932089225, | |
| 0.75205568886306, | |
| 0.5567277356808167, | |
| 0.08035356119525855, | |
| 0.26816162993954756, | |
| 0.09766573132322597, | |
| 0.03677641727915061, | |
| 3.229803036732761e-05, | |
| 1.9943653300040918e-05, | |
| 0.0004333556851899771, | |
| 2.4517295805128176e-09, | |
| 3.0683424331473354e-08, | |
| 1.388979743365584e-08, | |
| 9.329212659536094e-06 | |
| ], 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) | |