preprocessed/DualArmCleanupPotEnv-v1/norm_stats.json

{
  "count": 14865,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera_0",
    "robot_camera_1",
    "top_camera"
  ],
  "state_dim": 47,
  "action_dim": 14,
  "state_mean": [
    0.012163142145169786,
    -0.2441347289147363,
    -0.005977950741752051,
    -2.475514045910044,
    0.0069310960184056705,
    2.1549800891247495,
    0.7921511443343743,
    0.02903406451572997,
    0.029063703158798762,
    0.000273672292205614,
    0.005532951693851173,
    -0.00018415573905003864,
    -0.0024119842552328113,
    0.00011998637696934044,
    0.008864758984455507,
    0.00043417518922546594,
    0.00021773025600939965,
    0.0002287425541353242,
    0.018166911680399103,
    -0.26440068666732935,
    -0.03197493942318817,
    -2.4581036318362948,
    -0.0004581756010171444,
    2.126427220424096,
    0.7780529519694043,
    0.0283769244671308,
    0.028376150899812425,
    0.0007969784065174248,
    0.004474006549672633,
    -0.0007270862679020356,
    -0.003588985883285194,
    -0.00023697963002633282,
    0.008986202999978888,
    0.0005427936303059026,
    0.0004227614242352857,
    0.0004091484140333024,
    0.012048481727361157,
    -0.33499719461327776,
    0.08336459948605172,
    0.0,
    0.009680324161761213,
    0.0011976916376487655,
    -5.7437070688385733e-05,
    0.006199567570469199,
    0.3606750530047293,
    0.08928130860498387,
    0.0
  ],
  "state_std": [
    0.0876371750471079,
    0.4683347335276363,
    0.11699055115653868,
    0.34872497708668404,
    0.06668552115241454,
    0.34410986935793214,
    0.1654955233185522,
    0.013051713704638692,
    0.013033082949885031,
    0.0381486187820176,
    0.28027219552068605,
    0.0351554612025823,
    0.22403882931483596,
    0.047141356682205995,
    0.18041268453774761,
    0.05980535939497054,
    0.019788396565095883,
    0.019778074748636205,
    0.09730416301425028,
    0.46283970859439716,
    0.11691654180682899,
    0.3510125368898056,
    0.062345103684985276,
    0.3169657614167526,
    0.15970230356873386,
    0.01395749706695132,
    0.013958096749519937,
    0.03508358280167902,
    0.2643098894671942,
    0.03471624776247919,
    0.2283458273530892,
    0.04469647012733948,
    0.1650765950845507,
    0.056235207802864964,
    0.021369730488964796,
    0.021186873634156923,
    0.04750169670369024,
    0.15683123778746533,
    0.10351698689871032,
    1.0,
    0.08014498097770584,
    0.09223359986748403,
    0.0027838683781351227,
    0.057743988768087375,
    0.15556893429788934,
    0.10848231269013481,
    1.0
  ],
  "action_mean": [
    0.00025799864408451484,
    -0.004607212795185439,
    -0.004911741315984891,
    0.0,
    0.0,
    -4.29363502142528e-06,
    0.0639757820383451,
    -0.00020774575507670283,
    0.0035840841842953953,
    -0.004248040735863651,
    0.0,
    0.0,
    -4.29363502142528e-06,
    0.06787756474941137
  ],
  "action_std": [
    0.029258916934379476,
    0.07594141797153281,
    0.07328149352543442,
    0.0001,
    0.0001,
    0.006146627422163081,
    0.9979514563908323,
    0.032230320337981205,
    0.07331158534574804,
    0.06868528556284363,
    0.0001,
    0.0001,
    0.006146627422163083,
    0.997693663507838
  ],
  "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
      ]
    },
    {
      "path": "obs/extra/left_cube_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        36,
        39
      ]
    },
    {
      "path": "obs/extra/left_in",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        39,
        40
      ]
    },
    {
      "path": "obs/extra/pot_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        40,
        43
      ]
    },
    {
      "path": "obs/extra/right_cube_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        43,
        46
      ]
    },
    {
      "path": "obs/extra/right_in",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        46,
        47
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      27
    ],
    [
      27,
      36
    ],
    [
      36,
      39
    ],
    [
      40,
      43
    ],
    [
      43,
      46
    ]
  ],
  "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)."
}