preprocessed/DualArmBookPickPlace-v1/norm_stats.json

{
  "count": 9034,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera_0",
    "robot_camera_1",
    "top_camera"
  ],
  "state_dim": 36,
  "action_dim": 14,
  "state_mean": [
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    -8.157371339846533e-09,
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    0.0,
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    -7.080311235638351e-05,
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  "action_std": [
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    0.01126002128044778,
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  "state_norm_policy": "continuous_only",
  "state_fields": [
    {
      "path": "obs/agent/panda-0/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 9,
      "slice": [
        0,
        9
      ]
    },
    {
      "path": "obs/agent/panda-0/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 9,
      "slice": [
        9,
        18
      ]
    },
    {
      "path": "obs/agent/panda-1/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 9,
      "slice": [
        18,
        27
      ]
    },
    {
      "path": "obs/agent/panda-1/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 9,
      "slice": [
        27,
        36
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      27
    ],
    [
      27,
      36
    ]
  ],
  "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)."
}