| { |
| "count": 4804, |
| "target_image_size": [ |
| 192, |
| 256 |
| ], |
| "cameras": [ |
| "front_camera", |
| "left_camera", |
| "robot_camera_0", |
| "robot_camera_1", |
| "top_camera" |
| ], |
| "state_dim": 46, |
| "action_dim": 14, |
| "state_mean": [ |
| 0.1268750656424688, |
| 0.27998793730962995, |
| 0.26160658658618074, |
| -2.259739948599464, |
| -0.19820873860193716, |
| 2.5987906281050797, |
| 1.3016555914213317, |
| 0.012103592091179121, |
| 0.012097264413690792, |
| 0.0012572002077910253, |
| 0.08722930615641689, |
| 0.009000722868680255, |
| 0.015101212240380923, |
| -0.023362116788160504, |
| 0.09024437184367876, |
| 0.020895811625125948, |
| -0.002555204908332117, |
| -0.0024510159590323596, |
| -0.15613868696444613, |
| 0.3176779541448813, |
| 0.04725013209475341, |
| -2.4566499118900222, |
| 0.061906839989662774, |
| 2.9375215245722535, |
| 0.5729027599511943, |
| 0.01773291745057096, |
| 0.01773601028133256, |
| -0.028277544560501276, |
| 0.06505988055814434, |
| 0.026633542328393423, |
| -0.012927521074136271, |
| 0.005719876737504049, |
| 0.08087745376813146, |
| -0.02047056228038561, |
| 0.00022622302079285274, |
| 0.0001391334213969899, |
| 0.02225258978344677, |
| 0.08674568388313303, |
| 0.3671177475807023, |
| 0.3424722064320591, |
| 0.02560738577731543, |
| 0.10899827392813713, |
| 0.39272513335491593, |
| 0.39272513554480354, |
| 0.05994905053648002, |
| 0.21599882309147458 |
| ], |
| "state_std": [ |
| 0.14687922491337416, |
| 0.44478105612324276, |
| 0.15417788475753308, |
| 0.31420178816771743, |
| 0.2337238155601944, |
| 0.42620813325177115, |
| 0.2857418723549791, |
| 0.018254403900418117, |
| 0.018258749372510107, |
| 0.23507128964466883, |
| 0.18965288498013658, |
| 0.2865671929007156, |
| 0.11483946055062129, |
| 0.31857378406037795, |
| 0.2930602056753511, |
| 0.3041862738517086, |
| 0.024357497677740425, |
| 0.02438705879011245, |
| 0.39623873050502206, |
| 0.42810022262773534, |
| 0.3305596740534374, |
| 0.2339454783037333, |
| 0.2848680338900784, |
| 0.5786859181558123, |
| 0.37225752681112934, |
| 0.018957326360371177, |
| 0.018957768442021274, |
| 0.6974410804001797, |
| 0.2909570150971134, |
| 0.6420856417860052, |
| 0.1823357894458238, |
| 0.7228217293879031, |
| 0.6310083559896179, |
| 0.7492305149416336, |
| 0.03550946303405868, |
| 0.03558880474924334, |
| 0.025012101573302588, |
| 0.02499123240447827, |
| 0.05904739488934444, |
| 0.07550599980303248, |
| 0.05999497951427012, |
| 0.0014961181516446027, |
| 0.03744085929569384, |
| 0.0374408600237464, |
| 0.0008270920936573886, |
| 0.020592641547731907 |
| ], |
| "action_mean": [ |
| 0.0013979631650581845, |
| -0.012633118059764926, |
| -0.054517988777788455, |
| 0.0, |
| 0.0, |
| 0.0, |
| -0.4113238967527061, |
| 0.003971735565600564, |
| -0.00754254230426149, |
| -0.05328912400856899, |
| 0.0, |
| 0.0, |
| 0.0, |
| -0.02206494587843464 |
| ], |
| "action_std": [ |
| 0.0676490891736198, |
| 0.0520684983870407, |
| 0.07313988966121154, |
| 0.0001, |
| 0.0001, |
| 0.0001, |
| 0.9114892549888709, |
| 0.041515059512528624, |
| 0.05355205400615888, |
| 0.06689112293405579, |
| 0.0001, |
| 0.0001, |
| 0.0001, |
| 0.9997565444463877 |
| ], |
| "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/area_fold_amount", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 36, |
| 37 |
| ] |
| }, |
| { |
| "path": "obs/extra/cur_area", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 37, |
| 38 |
| ] |
| }, |
| { |
| "path": "obs/extra/cur_x_extent", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 38, |
| 39 |
| ] |
| }, |
| { |
| "path": "obs/extra/cur_y_extent", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 39, |
| 40 |
| ] |
| }, |
| { |
| "path": "obs/extra/fold_amount", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 40, |
| 41 |
| ] |
| }, |
| { |
| "path": "obs/extra/init_area", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 41, |
| 42 |
| ] |
| }, |
| { |
| "path": "obs/extra/init_x_extent", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 42, |
| 43 |
| ] |
| }, |
| { |
| "path": "obs/extra/init_y_extent", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 43, |
| 44 |
| ] |
| }, |
| { |
| "path": "obs/extra/target_area", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 44, |
| 45 |
| ] |
| }, |
| { |
| "path": "obs/extra/target_x_extent", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 45, |
| 46 |
| ] |
| } |
| ], |
| "state_norm_slices": [ |
| [ |
| 0, |
| 9 |
| ], |
| [ |
| 9, |
| 18 |
| ], |
| [ |
| 18, |
| 27 |
| ], |
| [ |
| 27, |
| 36 |
| ], |
| [ |
| 36, |
| 37 |
| ], |
| [ |
| 37, |
| 38 |
| ], |
| [ |
| 38, |
| 39 |
| ], |
| [ |
| 39, |
| 40 |
| ], |
| [ |
| 40, |
| 41 |
| ], |
| [ |
| 41, |
| 42 |
| ], |
| [ |
| 42, |
| 43 |
| ], |
| [ |
| 43, |
| 44 |
| ], |
| [ |
| 44, |
| 45 |
| ], |
| [ |
| 45, |
| 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)." |
| } |
