preprocessed/DrapeCloth-v1/norm_stats.json

{
  "count": 5662,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
  ],
  "state_dim": 49,
  "action_dim": 22,
  "state_mean": [
    -0.12362525477324056,
    0.2913216499119602,
    -0.14359858089759034,
    -2.2133975145421827,
    -1.7576007454987344,
    1.6152191986384132,
    -0.5516526247681892,
    0.3422057607951791,
    0.35468461964887915,
    0.3439841014099404,
    0.792803104538398,
    -0.001635175001125882,
    -0.0010073942692102591,
    -0.0015992680680413304,
    0.013321570456394706,
    0.3681422283413266,
    0.3626761880191786,
    0.3560051177325774,
    0.4527100839811801,
    0.3716909346531453,
    0.3687236722305685,
    0.36515228913332387,
    0.4952248221605126,
    0.0175597655323526,
    0.045105765865556556,
    0.010594222604153943,
    0.019030868756508345,
    0.021517696446608215,
    -0.03987551383416912,
    0.032183843201750564,
    0.026386413474770685,
    0.034265942864356254,
    0.033873505373001274,
    0.02971234749693034,
    0.00029245082087677544,
    8.772076384858584e-05,
    5.045035854035024e-05,
    0.008496149656464117,
    0.03155045423955695,
    0.03327500087536798,
    0.03304343233736951,
    0.027575815218376497,
    0.031568127149481054,
    0.03256673336216888,
    0.03245253870703479,
    0.039973114248079616,
    0.1347956757438433,
    0.4047102593806619,
    0.1028699484856583
  ],
  "state_std": [
    0.23248423356980663,
    0.2588042701155268,
    0.18687682593302868,
    0.28919264730337674,
    0.31765114223404856,
    0.37448103123156457,
    0.1731914787555021,
    0.3249163554143589,
    0.35511702702978065,
    0.34767081192633054,
    0.5128073702502536,
    0.003066968785671687,
    0.0011825049873904299,
    0.0018180342022387393,
    0.03591044168932672,
    0.36313536410444114,
    0.36075061026072125,
    0.355992417058004,
    0.4153981954429437,
    0.36633576380253263,
    0.3650776907186641,
    0.36248455759431064,
    0.47106907245873186,
    0.06828619479356791,
    0.11148785245770722,
    0.060551508717423076,
    0.11268435097076779,
    0.09341607044878762,
    0.12152737819107322,
    0.0612112519953909,
    0.0687842632681918,
    0.07180972622420098,
    0.0701997426739085,
    0.1307262519246395,
    0.0015232816141203154,
    0.0005367264458918429,
    0.0006026604479054081,
    0.019831272530441642,
    0.0703537911007811,
    0.06980523833984158,
    0.06879141772381951,
    0.08706042770474878,
    0.06850538203132771,
    0.06834812652318367,
    0.06781533912121496,
    0.09004795027824186,
    0.25237254240783774,
    0.20851616818478302,
    0.2529694003357434
  ],
  "action_mean": [
    -0.0004863242967718279,
    0.01847902608808114,
    -0.03007814903713628,
    0.0,
    0.0,
    0.0,
    0.00040307528013786806,
    0.049793257672472585,
    0.04292509379276579,
    0.04249492467123474,
    7.861600426439157e-05,
    0.04371850503097361,
    0.04306401169182175,
    0.04256553991086826,
    0.00012326824167779442,
    0.04454147293032037,
    0.043577618362709056,
    0.04284207177579045,
    0.036724342885307105,
    -0.003990600280964633,
    0.0784435374698467,
    0.06566478874164602
  ],
  "action_std": [
    0.041579675107604554,
    0.08379409395877103,
    0.05104684535540831,
    0.0001,
    0.0001,
    0.0001,
    0.0009466242627666697,
    0.09354626914554282,
    0.08796684502410017,
    0.08753928075758481,
    0.0002064625894995593,
    0.08940469986234091,
    0.08851949201956806,
    0.08785534131642303,
    0.000294619381029025,
    0.09045688867999732,
    0.0891653401500719,
    0.08819896049597904,
    0.1712416243390089,
    0.010775697822075823,
    0.14020419126184688,
    0.12558984683269034
  ],
  "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/below_rim_ratio",
      "dtype": "float64",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        46,
        47
      ]
    },
    {
      "path": "obs/extra/com_xy_dist",
      "dtype": "float64",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        47,
        48
      ]
    },
    {
      "path": "obs/extra/inside_ratio",
      "dtype": "float64",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        48,
        49
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      23
    ],
    [
      23,
      46
    ],
    [
      46,
      47
    ],
    [
      47,
      48
    ],
    [
      48,
      49
    ]
  ],
  "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)."
}