preprocessed/DualArmBilliardBridge-v1/norm_stats.json

{
  "count": 7176,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera_0",
    "robot_camera_1",
    "top_camera"
  ],
  "state_dim": 77,
  "action_dim": 20,
  "state_mean": [
    0.384168767466935,
    -1.009487078760812,
    0.7938757459188571,
    -0.10886105763810348,
    -0.513902660720874,
    0.08817774200147173,
    -2.054035086147362,
    0.035858848180075314,
    1.5526182629093277,
    1.2252739550610183,
    0.030581987265797504,
    0.03059463630471412,
    0.03556024165145076,
    -0.04482869694842643,
    0.07706256522448428,
    -0.009637718453561931,
    0.05693005292587759,
    -0.002299381341001119,
    0.04458844005673279,
    0.0005900102310437996,
    -0.002893141688859082,
    0.04502352292630461,
    -0.0008705018181959816,
    -0.0008041391280543365,
    0.1718815789707763,
    0.42494623843526497,
    1.25880050850558e-05,
    0.0005037747406680551,
    -0.5823867694249454,
    -0.00021473144511947395,
    -2.4509529228858993,
    -0.003640359511550079,
    2.5294469604092162,
    0.7806591711597831,
    0.039995112764745655,
    0.039996369287616663,
    0.012598071998669021,
    -0.0057295574570019586,
    5.1001870247107354e-06,
    1.307685483654024e-05,
    0.014453721660612992,
    -0.00024409702014497632,
    -0.005076438204271572,
    -0.00022373759771864794,
    0.015638008453557607,
    -0.00021203676051231816,
    7.490936569681831e-06,
    1.5126006629625424e-06,
    0.720893171137259,
    0.6086871982318501,
    0.8082345789308797,
    0.6015433730057119,
    0.9187519708056514,
    0.8044002284124544,
    0.7113148942257516,
    0.8739532953587132,
    0.002977307956075048,
    0.02560321795808843,
    0.001562481811332201,
    -0.008158665960038263,
    0.010072327194340676,
    -0.0005243478269905097,
    0.8616450242075234,
    -0.2672773971779889,
    0.801803469657898,
    0.7311184301955777,
    -0.2705462843152708,
    0.825350067105846,
    0.384168767466935,
    -1.009487078760812,
    0.0,
    0.1718815789707763,
    0.42494623843526497,
    0.0,
    1.0,
    0.0,
    0.4000000059604645
  ],
  "state_std": [
    0.39415554833911437,
    0.44050877730581334,
    0.7679675217508758,
    0.21821470652965824,
    0.3604432266625905,
    0.18746544282627267,
    0.38381079731355294,
    0.06785947627431696,
    0.06822736909374334,
    0.6673546807909946,
    0.01156883421449972,
    0.011558344830187164,
    0.19546476587009318,
    0.16201854991617634,
    0.2894319359351677,
    0.058968357746718096,
    0.24357014472304064,
    0.04627868949893425,
    0.2133446823900872,
    0.024988994215170705,
    0.05826051890524832,
    0.293011781013,
    0.02824302362600172,
    0.02852600119005167,
    0.11189489186577242,
    0.04865145102308166,
    0.00010950884514482569,
    0.0022349199019056267,
    0.1946504833792987,
    0.001967745142302941,
    0.09558075652314983,
    0.00369181553420633,
    0.775019480061124,
    0.0050488423363327815,
    0.0001087680132884399,
    0.00010451009452820105,
    0.066560252332193,
    0.04136007795309066,
    0.00015260644039326684,
    0.003078124482676331,
    0.06722687905906898,
    0.0047255161980704384,
    0.027444893771397257,
    0.0012631378554622394,
    0.05240986241683272,
    0.0010310551546342268,
    0.0008237607977625752,
    0.0004168796934800601,
    0.03624902017051468,
    0.1566411774088646,
    0.0017402489239518792,
    0.046888408688153124,
    0.058537828296550534,
    0.015665308866283954,
    0.052526737452014936,
    0.03970246007000685,
    0.04051331991439269,
    0.15748426889544678,
    0.03067541310123208,
    0.05274151896332423,
    0.06197596816073777,
    0.0493757352124057,
    0.03595988640779876,
    0.00998680713943141,
    0.0001,
    0.09624009320042516,
    0.1086237936549859,
    0.02550844658053943,
    0.39415554833911437,
    0.44050877730581334,
    0.0001,
    0.11189489186577242,
    0.04865145102308166,
    0.0001,
    0.0001,
    0.0001,
    0.0001
  ],
  "action_mean": [
    0.39170242497415064,
    -1.0181318465433393,
    0.8103180234998558,
    0.005592722695947957,
    0.00915881711678162,
    0.005066157127611147,
    5.0785059109151726e-05,
    0.000179214504531902,
    0.008485855581435161,
    0.2084726867335563,
    0.17432258916248375,
    0.4238486772521482,
    1.2570673793280856e-05,
    0.003434595384052565,
    -6.213255949243653e-05,
    -0.008556765445000348,
    0.0,
    0.0,
    0.0,
    1.0
  ],
  "action_std": [
    0.39889517482903913,
    0.4393384890216896,
    0.7695614711375602,
    0.02684746496783169,
    0.05441143340751725,
    0.04034028142781801,
    0.0015034772985173515,
    0.0018392740326161284,
    0.05702252255427324,
    0.9780281943206404,
    0.11127471727076362,
    0.048550467438964504,
    0.00010968395380481993,
    0.01695901491548752,
    0.00026460386286524955,
    0.028296636176028202,
    0.0001,
    0.0001,
    0.0001,
    0.0001
  ],
  "state_norm_policy": "continuous_only",
  "state_fields": [
    {
      "path": "obs/agent/mobile_panda-0/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        0,
        12
      ]
    },
    {
      "path": "obs/agent/mobile_panda-0/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        12,
        24
      ]
    },
    {
      "path": "obs/agent/mobile_panda-1/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        24,
        36
      ]
    },
    {
      "path": "obs/agent/mobile_panda-1/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        36,
        48
      ]
    },
    {
      "path": "obs/extra/ball_positions",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 6,
      "slice": [
        48,
        54
      ]
    },
    {
      "path": "obs/extra/ball_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 2,
      "slice": [
        54,
        56
      ]
    },
    {
      "path": "obs/extra/ball_velocities",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 6,
      "slice": [
        56,
        62
      ]
    },
    {
      "path": "obs/extra/bridge_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        62,
        65
      ]
    },
    {
      "path": "obs/extra/cue_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        65,
        68
      ]
    },
    {
      "path": "obs/extra/robot1_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        68,
        71
      ]
    },
    {
      "path": "obs/extra/robot2_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        71,
        74
      ]
    },
    {
      "path": "obs/extra/table_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        74,
        77
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      12
    ],
    [
      12,
      24
    ],
    [
      24,
      36
    ],
    [
      36,
      48
    ],
    [
      48,
      54
    ],
    [
      54,
      56
    ],
    [
      56,
      62
    ],
    [
      62,
      65
    ],
    [
      65,
      68
    ],
    [
      68,
      71
    ],
    [
      71,
      74
    ],
    [
      74,
      77
    ]
  ],
  "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)."
}