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| "state_norm_policy": "continuous_only", | |
| "state_fields": [ | |
| { | |
| "path": "obs/agent/panda_leaphand-1/qpos", | |
| "dtype": "float32", | |
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| "dim": 23, | |
| "slice": [ | |
| 0, | |
| 23 | |
| ] | |
| }, | |
| { | |
| "path": "obs/agent/panda_leaphand-1/qvel", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 23, | |
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| 46 | |
| ] | |
| }, | |
| { | |
| "path": "obs/agent/panda_leaphand_left-0/qpos", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 23, | |
| "slice": [ | |
| 46, | |
| 69 | |
| ] | |
| }, | |
| { | |
| "path": "obs/agent/panda_leaphand_left-0/qvel", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 23, | |
| "slice": [ | |
| 69, | |
| 92 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/both_pressed", | |
| "dtype": "bool", | |
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| "dim": 1, | |
| "slice": [ | |
| 92, | |
| 93 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/button1_press_step", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 1, | |
| "slice": [ | |
| 93, | |
| 94 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/button1_qpos", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 1, | |
| "slice": [ | |
| 94, | |
| 95 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/button2_press_step", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 1, | |
| "slice": [ | |
| 95, | |
| 96 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/button2_qpos", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 1, | |
| "slice": [ | |
| 96, | |
| 97 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/is_button1_pressed", | |
| "dtype": "bool", | |
| "kind": "bool", | |
| "dim": 1, | |
| "slice": [ | |
| 97, | |
| 98 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/is_button2_pressed", | |
| "dtype": "bool", | |
| "kind": "bool", | |
| "dim": 1, | |
| "slice": [ | |
| 98, | |
| 99 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/simultaneous_press", | |
| "dtype": "bool", | |
| "kind": "bool", | |
| "dim": 1, | |
| "slice": [ | |
| 99, | |
| 100 | |
| ] | |
| } | |
| ], | |
| "state_norm_slices": [ | |
| [ | |
| 0, | |
| 23 | |
| ], | |
| [ | |
| 23, | |
| 46 | |
| ], | |
| [ | |
| 46, | |
| 69 | |
| ], | |
| [ | |
| 69, | |
| 92 | |
| ], | |
| [ | |
| 93, | |
| 94 | |
| ], | |
| [ | |
| 94, | |
| 95 | |
| ], | |
| [ | |
| 95, | |
| 96 | |
| ], | |
| [ | |
| 96, | |
| 97 | |
| ] | |
| ], | |
| "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)." | |
| } |