| { | |
| "count": 30946, | |
| "target_image_size": [ | |
| 192, | |
| 256 | |
| ], | |
| "cameras": [ | |
| "front_camera", | |
| "left_camera", | |
| "right_camera", | |
| "robot_camera_0", | |
| "robot_camera_1", | |
| "top_camera" | |
| ], | |
| "state_dim": 149, | |
| "action_dim": 44, | |
| "state_mean": [ | |
| 0.28352301915203826, | |
| 0.1967935510546911, | |
| 0.12864309584343486, | |
| -2.327443366240093, | |
| -1.0452553761099392, | |
| 1.6543189833462066, | |
| -0.442884735932087, | |
| 0.16085517486593295, | |
| 9.036392956364172e-05, | |
| 9.252562429935478e-05, | |
| 1.5226974407641785, | |
| 0.10467237980512453, | |
| 2.6380231709872465e-05, | |
| 2.6038456101202583e-05, | |
| 0.0003453617158395798, | |
| 0.9905125776553537, | |
| 1.1556390487928212e-05, | |
| 1.1844312515101429e-05, | |
| 0.5296420953779436, | |
| 0.11581352843176082, | |
| 3.584098833012948e-08, | |
| 3.5807738741321596e-08, | |
| 0.3196800801626917, | |
| 0.005710714815552624, | |
| 0.00845295165589315, | |
| 0.002661112641450195, | |
| 0.008271896509996393, | |
| 0.007195800248774227, | |
| -0.0019548641357820394, | |
| 0.004592940090751797, | |
| 0.0012839407858348207, | |
| 1.7396917751198446e-05, | |
| 1.768670922518184e-05, | |
| 0.009684245561293148, | |
| 0.0003279028286263367, | |
| -2.526097162584135e-06, | |
| -2.568641581812421e-06, | |
| -1.1085779728712956e-06, | |
| 0.006563281817875171, | |
| 2.3693334586990575e-06, | |
| 2.4074866170364193e-06, | |
| 0.0033944193534156814, | |
| 0.0011360849326146414, | |
| 7.3571755098015805e-09, | |
| 7.355484948665666e-09, | |
| 0.002082506520361011, | |
| 0.24901028223244107, | |
| 0.19827047317014249, | |
| 0.19072059577072756, | |
| -2.324182387780629, | |
| -1.0570654878652237, | |
| 1.6272934515428614, | |
| -0.42894446980881085, | |
| 0.16017661632024147, | |
| 4.388123738732051e-05, | |
| -0.0018528237732423544, | |
| 1.5226601654367427, | |
| 0.10443392428468853, | |
| 3.19434125711931e-05, | |
| -3.6618950347341486e-05, | |
| 0.00034129401461395676, | |
| 0.990361508407199, | |
| 5.6191991097450455e-06, | |
| -0.0011320306686487941, | |
| 0.5293574971245292, | |
| 0.11598349477692677, | |
| 4.8472663932646626e-08, | |
| -0.0006166875262368197, | |
| 0.31955040716730765, | |
| 0.0027999147796027054, | |
| 0.0054984019435365145, | |
| 0.0016468464072383303, | |
| 0.0030886035558838694, | |
| 0.0050537189616973, | |
| 0.0015473117591586862, | |
| 0.004824781130184486, | |
| 0.0012759231936317183, | |
| 8.237425250975197e-06, | |
| -4.891619345987005e-06, | |
| 0.00968428089011238, | |
| 0.00031288492027189155, | |
| -1.216138447483454e-06, | |
| -1.9531850083419527e-06, | |
| 3.4248247898930796e-06, | |
| 0.006582097068653678, | |
| 1.108056345446549e-06, | |
| -6.917086425644981e-06, | |
| 0.003418834171125762, | |
| 0.0011641727452536442, | |
| 4.90740697612987e-09, | |
| -4.395545484324481e-06, | |
| 0.0020890080981687915, | |
| -0.2497572507272284, | |
| -0.022878451604679627, | |
| 0.02706808911331067, | |
| -0.12375419879234555, | |
| -0.101052882082597, | |
| 0.026988678977470287, | |
| 0.022728051988437283, | |
| -0.08857784180673801, | |
| 0.02688480305766455, | |
| 0.19244147059785674, | |
| -0.2198017070478503, | |
| 0.026841374538857647, | |
| 0.0024952575121667915, | |
| 0.02204532220902993, | |
| 0.02706737878299556, | |
| 0.028557060250694877, | |
| 0.09849870980881699, | |
| 0.02704447392919119, | |
| 0.07842638119343151, | |
| 0.0866132566762816, | |
| 0.026923314424407763, | |
| 0.14690481577397685, | |
| 0.21938189141550196, | |
| 0.026882928697400655, | |
| 0.0, | |
| -0.21794638599849675, | |
| -0.14574827385309966, | |
| 0.29022667864356216, | |
| 0.837326187017099, | |
| 0.0, | |
| 0.20217798043871701, | |
| 0.14064896918035374, | |
| 0.2895747988107347, | |
| -0.25, | |
| 0.0, | |
| 0.0, | |
| -0.1785714328289032, | |
| 0.0, | |
| 0.0, | |
| -0.1071428582072258, | |
| 0.0, | |
| 0.0, | |
| -0.0357142873108387, | |
| 0.0, | |
| 0.0, | |
| 0.0357142873108387, | |
| 0.0, | |
| 0.0, | |
| 0.1071428582072258, | |
| 0.0, | |
| 0.0, | |
| 0.1785714328289032, | |
| 0.0, | |
| 0.0, | |
| 0.25, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "state_std": [ | |
| 0.17126889369443393, | |
| 0.2708379219741367, | |
| 0.13968931497706494, | |
| 0.3438754139632519, | |
| 0.24639397935559648, | |
| 0.22386282644429614, | |
| 0.19370476914780857, | |
| 0.02624185859227059, | |
| 0.00012243916206130506, | |
| 0.0001233806551760732, | |
| 0.14634846913246746, | |
| 0.08155221993069856, | |
| 0.00010610167209841774, | |
| 0.00010616334500677595, | |
| 0.0006013872306689126, | |
| 0.4505365704724832, | |
| 0.00010041240149217303, | |
| 0.00010043138498564383, | |
| 0.25856174749291255, | |
| 0.40801099790928674, | |
| 0.00010000002427205285, | |
| 0.00010000002426884459, | |
| 0.06437771814189888, | |
| 0.022738668900182682, | |
| 0.10983972596546349, | |
| 0.02521132360037335, | |
| 0.10569384163869536, | |
| 0.05502406224703579, | |
| 0.07519229244417569, | |
| 0.07343927138234772, | |
| 0.017044611459017967, | |
| 0.00020148708623054474, | |
| 0.00020225589936327283, | |
| 0.050712493249372215, | |
| 0.025292741936264303, | |
| 0.00011513375009720845, | |
| 0.00011511756280803271, | |
| 0.002082006035748366, | |
| 0.0999289559727573, | |
| 0.00010236861455777787, | |
| 0.0001023893877430062, | |
| 0.05805716162084406, | |
| 0.10862756310469932, | |
| 0.0001000001160170396, | |
| 0.00010000011601704251, | |
| 0.02245432442385214, | |
| 0.1514961199410528, | |
| 0.2910857534377958, | |
| 0.14568493278310965, | |
| 0.3931792294842389, | |
| 0.2513493339226429, | |
| 0.2218796927146222, | |
| 0.17116228772724199, | |
| 0.026366969826992295, | |
| 0.00013577918101810913, | |
| 0.0023057661036415423, | |
| 0.1463408054708239, | |
| 0.0813829546301843, | |
| 0.00011125806077249077, | |
| 0.00018085240398535605, | |
| 0.0005631474666299973, | |
| 0.450309350503675, | |
| 0.00010087434586145846, | |
| 0.0013871783382602332, | |
| 0.2582148764058194, | |
| 0.4080488169885632, | |
| 0.00010000002126145175, | |
| 0.0007589743053678143, | |
| 0.06425665417480772, | |
| 0.03574598316052833, | |
| 0.12544928128128097, | |
| 0.036350813847705096, | |
| 0.12205008115062581, | |
| 0.07101517372655303, | |
| 0.08492707538260867, | |
| 0.07823084136831479, | |
| 0.0173127301763728, | |
| 0.00020605404681438923, | |
| 0.00041986578186394436, | |
| 0.05070994173401424, | |
| 0.025059912812755984, | |
| 0.00011844356409230286, | |
| 0.00012084892227592245, | |
| 0.0019380750213042993, | |
| 0.09990580535459725, | |
| 0.00010255820190805111, | |
| 0.0002486983450267143, | |
| 0.05803178971682072, | |
| 0.10867766806718723, | |
| 0.00010000010899164159, | |
| 0.00015940415921937914, | |
| 0.022457155398790535, | |
| 0.04655099082629455, | |
| 0.04858710236325074, | |
| 0.028982473707351335, | |
| 0.08247513997124636, | |
| 0.11308874811578333, | |
| 0.028930467591794334, | |
| 0.09243216930868954, | |
| 0.060731393288775, | |
| 0.02861329106645388, | |
| 0.04787644478544908, | |
| 0.04880926589965691, | |
| 0.028530038458999003, | |
| 0.08898400912164736, | |
| 0.046498990551937666, | |
| 0.0289546438583148, | |
| 0.09901747316870972, | |
| 0.1116872457826995, | |
| 0.029120131015258822, | |
| 0.07384786522259813, | |
| 0.05983276440460984, | |
| 0.028745080202542714, | |
| 0.027491600693377093, | |
| 0.048931572945069966, | |
| 0.028659473791600745, | |
| 1.0, | |
| 0.13192968901711186, | |
| 0.08219560434622733, | |
| 0.06604749277953957, | |
| 0.06473881196364507, | |
| 1.0, | |
| 0.1342967449427582, | |
| 0.08216971241938077, | |
| 0.06593042697234255, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001 | |
| ], | |
| "action_mean": [ | |
| 0.0069254909980952795, | |
| -0.00020546491091059382, | |
| -0.003583986953296697, | |
| 0.0, | |
| 0.0016544948896655728, | |
| 0.0, | |
| -0.0007916051555394618, | |
| 0.010850562731364704, | |
| 0.011300950685135478, | |
| -0.02692198999003623, | |
| 1.9985062215549943e-07, | |
| -8.752975105665073e-07, | |
| -1.219525700089588e-07, | |
| -2.6421077447985834e-10, | |
| 2.098237077696436e-07, | |
| -8.846036274209896e-07, | |
| -1.2367209517345218e-07, | |
| -2.6384897589472297e-10, | |
| 0.009555895739378156, | |
| -0.00012087660052729322, | |
| 0.009268516137097215, | |
| 0.004489855987445208, | |
| -0.003547686732363358, | |
| 0.00042949942682329157, | |
| -0.003617761608128679, | |
| 0.0, | |
| -0.0016544948896655728, | |
| 0.0, | |
| -0.0007081457302359409, | |
| 0.011088058223485676, | |
| 0.01135382493296838, | |
| -0.026981478212384676, | |
| 2.4535710358345805e-07, | |
| -5.30241114644211e-07, | |
| -8.315001038451586e-08, | |
| -4.785319466562066e-10, | |
| 1.1487222221690606e-06, | |
| 2.633668957948124e-05, | |
| 1.6017426429985313e-05, | |
| 8.722869793725075e-06, | |
| 0.009568942116087154, | |
| -0.00011945290511436537, | |
| 0.00936812550080634, | |
| 0.0045352415568935545 | |
| ], | |
| "action_std": [ | |
| 0.03174338343064405, | |
| 0.039018358864229774, | |
| 0.05468215339212794, | |
| 0.0001, | |
| 0.01618616146866335, | |
| 0.0001, | |
| 0.025415315983049105, | |
| 0.015144238854711946, | |
| 0.1013985976389923, | |
| 0.11652454213899947, | |
| 0.00010000503416686263, | |
| 0.00010012706398437335, | |
| 0.00010000242129152674, | |
| 0.00010000000007796532, | |
| 0.0001000054781772767, | |
| 0.00010013082855775067, | |
| 0.00010000250745562203, | |
| 0.00010000000007792147, | |
| 0.05122204992353809, | |
| 0.0002303891461284258, | |
| 0.058815035085739674, | |
| 0.022495456677845735, | |
| 0.045851029774799885, | |
| 0.03954740413624161, | |
| 0.054689046120775076, | |
| 0.0001, | |
| 0.01618616146866335, | |
| 0.0001, | |
| 0.025326728065150694, | |
| 0.015211548938826971, | |
| 0.10131764044221339, | |
| 0.11661174334183065, | |
| 0.00010001444176519694, | |
| 0.00010010281609438422, | |
| 0.00010000243332724221, | |
| 0.00010000000009030261, | |
| 0.0001005992340699862, | |
| 0.00021931324341652726, | |
| 0.00015444703006986705, | |
| 0.00011874032990058254, | |
| 0.051219367711126264, | |
| 0.00021822934266779398, | |
| 0.05880979734395194, | |
| 0.022496734086223456 | |
| ], | |
| "state_norm_policy": "continuous_only", | |
| "state_fields": [ | |
| { | |
| "path": "obs/agent/panda_leaphand-0/qpos", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 23, | |
| "slice": [ | |
| 0, | |
| 23 | |
| ] | |
| }, | |
| { | |
| "path": "obs/agent/panda_leaphand-0/qvel", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 23, | |
| "slice": [ | |
| 23, | |
| 46 | |
| ] | |
| }, | |
| { | |
| "path": "obs/agent/panda_leaphand-1/qpos", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 23, | |
| "slice": [ | |
| 46, | |
| 69 | |
| ] | |
| }, | |
| { | |
| "path": "obs/agent/panda_leaphand-1/qvel", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 23, | |
| "slice": [ | |
| 69, | |
| 92 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/current_positions", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 24, | |
| "slice": [ | |
| 92, | |
| 116 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/left_in_workspace", | |
| "dtype": "bool", | |
| "kind": "bool", | |
| "dim": 1, | |
| "slice": [ | |
| 116, | |
| 117 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/left_tcp_pos", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 3, | |
| "slice": [ | |
| 117, | |
| 120 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/progress", | |
| "dtype": "float64", | |
| "kind": "continuous", | |
| "dim": 1, | |
| "slice": [ | |
| 120, | |
| 121 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/right_in_workspace", | |
| "dtype": "bool", | |
| "kind": "bool", | |
| "dim": 1, | |
| "slice": [ | |
| 121, | |
| 122 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/right_tcp_pos", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 3, | |
| "slice": [ | |
| 122, | |
| 125 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/target_positions", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 24, | |
| "slice": [ | |
| 125, | |
| 149 | |
| ] | |
| } | |
| ], | |
| "state_norm_slices": [ | |
| [ | |
| 0, | |
| 23 | |
| ], | |
| [ | |
| 23, | |
| 46 | |
| ], | |
| [ | |
| 46, | |
| 69 | |
| ], | |
| [ | |
| 69, | |
| 92 | |
| ], | |
| [ | |
| 92, | |
| 116 | |
| ], | |
| [ | |
| 117, | |
| 120 | |
| ], | |
| [ | |
| 120, | |
| 121 | |
| ], | |
| [ | |
| 122, | |
| 125 | |
| ], | |
| [ | |
| 125, | |
| 149 | |
| ] | |
| ], | |
| "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)." | |
| } |