preprocessed/ClutterGrasp-v1/norm_stats.json

{
  "count": 9802,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
  ],
  "state_dim": 62,
  "action_dim": 22,
  "state_mean": [
    -0.034664634438819356,
    0.14580803171586204,
    -0.3075233438993362,
    -2.301500872412985,
    -1.0184297058765879,
    1.6173616913248936,
    -0.6269660850875851,
    0.23031677833853526,
    0.2836898517192782,
    0.32273100904486085,
    0.4445359171042268,
    0.026189303058107183,
    0.008458155119295816,
    0.0003719221773074643,
    -0.0017758840111705538,
    0.2658911128003285,
    0.28541671543449343,
    0.3276083802186793,
    0.07518906299261152,
    0.29816325080930856,
    0.3061968897060918,
    0.3318562081874263,
    0.16163949429660943,
    -0.0008936199967288602,
    0.004321526908152374,
    -0.009775735168810612,
    0.00966717022517806,
    0.013263788377954045,
    -0.006872002820110261,
    0.011567893555543815,
    0.015696608698714445,
    0.018366395147315247,
    0.0258343319816255,
    0.015235914011376505,
    0.0007309480934697022,
    0.0010371662370879428,
    -9.247028335570195e-05,
    0.0005613326900523852,
    0.018218148558285033,
    0.01883246018780187,
    0.025833864906123126,
    0.006811005228241563,
    0.020665526604928076,
    0.02186384563303343,
    0.02564004139387265,
    0.01639198685632824,
    0.10000000149011612,
    -0.20000000298023224,
    0.029999999329447746,
    0.15062755443744094,
    0.06405605925400994,
    0.023883095316291087,
    -0.23801191562047114,
    0.09405605958185982,
    0.032923616412658396,
    0.0,
    0.0,
    0.24200999371629908,
    0.345789868210535,
    0.010542178033142212,
    -0.127580609250379,
    0.34376996575302315
  ],
  "state_std": [
    0.6164641670898274,
    0.6968048221532508,
    0.7034178804505663,
    0.46147983434566353,
    1.1413611270678112,
    0.71222306086796,
    0.864393369721424,
    0.2826947141574194,
    0.3477643767229382,
    0.4207180954331634,
    0.42248876001329083,
    0.04747460533496636,
    0.01799562350048235,
    0.006674273514638425,
    0.03429523499223328,
    0.33766803056250383,
    0.35178279634751086,
    0.43055112927414274,
    0.1428072698466636,
    0.38348127668733223,
    0.3909792305622239,
    0.43973086379278237,
    0.29304656960663267,
    0.18371030047356865,
    0.16872765664439712,
    0.21354167838217322,
    0.0955202870018576,
    0.21747286509469269,
    0.16325287022647375,
    0.2164211273829745,
    0.046073975588211455,
    0.054708849170627114,
    0.055688693944755424,
    0.051552852346432775,
    0.0129246183599341,
    0.00480646521062239,
    0.008763395904231341,
    0.011203403615882285,
    0.05022163760816763,
    0.05328136029571793,
    0.053499619696355104,
    0.05691086830732285,
    0.05161921925057371,
    0.05157475499675721,
    0.05286601163159422,
    0.05577545027180394,
    0.0001,
    0.0001,
    0.0001,
    0.06994788464893548,
    0.07456621813000704,
    0.06502999802280815,
    0.0803149896493184,
    0.07456621854160546,
    0.08677334155916852,
    1.0,
    1.0,
    0.25117966885622045,
    0.10681059347372372,
    0.13748159152201178,
    0.1424547266147928,
    0.11908249567393667
  ],
  "action_mean": [
    0.002925918962680285,
    -0.006661231512924324,
    0.002120157079328399,
    0.005714441325958598,
    0.0018683309581570917,
    0.00490294626218058,
    -0.007590391213405748,
    0.0560180097572886,
    0.04539618547887408,
    0.035898797514191304,
    -0.002512457214550696,
    0.04042157373710266,
    0.039875105292488694,
    0.03362214564608851,
    -0.00012058005505888878,
    0.028740921241736064,
    0.027246661250581634,
    0.025940932917397578,
    0.03151809588475693,
    0.0005259180867410449,
    0.0762482444219774,
    0.05028893628975734
  ],
  "action_std": [
    0.04655940429206964,
    0.04877963693966285,
    0.0668020186616031,
    0.05553568430525222,
    0.039150498636574736,
    0.054961569017980445,
    0.01357693126259471,
    0.0835225748441234,
    0.06829594638123311,
    0.05819348143331466,
    0.005373775909456851,
    0.06464007647638413,
    0.06342101880383644,
    0.05703846120275059,
    0.0017076200714270184,
    0.05649979573647217,
    0.054816810990718445,
    0.053833708633452784,
    0.04802838742119255,
    0.010286855300419825,
    0.13299898643799377,
    0.09148340950713207
  ],
  "state_norm_policy": "continuous_only",
  "state_fields": [
    {
      "path": "obs/agent/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 23,
      "slice": [
        0,
        23
      ]
    },
    {
      "path": "obs/agent/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 23,
      "slice": [
        23,
        46
      ]
    },
    {
      "path": "obs/extra/basket_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        46,
        49
      ]
    },
    {
      "path": "obs/extra/chips_can_basket_dist",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        49,
        50
      ]
    },
    {
      "path": "obs/extra/chips_can_height",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        50,
        51
      ]
    },
    {
      "path": "obs/extra/chips_can_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        51,
        54
      ]
    },
    {
      "path": "obs/extra/grasp_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        54,
        55
      ]
    },
    {
      "path": "obs/extra/is_grasped",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        55,
        56
      ]
    },
    {
      "path": "obs/extra/is_lifted",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        56,
        57
      ]
    },
    {
      "path": "obs/extra/lift_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        57,
        58
      ]
    },
    {
      "path": "obs/extra/palm_chips_can_dist",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        58,
        59
      ]
    },
    {
      "path": "obs/extra/palm_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        59,
        62
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      23
    ],
    [
      23,
      46
    ],
    [
      46,
      49
    ],
    [
      49,
      50
    ],
    [
      50,
      51
    ],
    [
      51,
      54
    ],
    [
      54,
      55
    ],
    [
      57,
      58
    ],
    [
      58,
      59
    ],
    [
      59,
      62
    ]
  ],
  "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)."
}