| { | |
| "count": 11453, | |
| "target_image_size": [ | |
| 192, | |
| 256 | |
| ], | |
| "cameras": [ | |
| "front_camera", | |
| "left_camera", | |
| "robot_camera_0", | |
| "robot_camera_1", | |
| "top_camera" | |
| ], | |
| "state_dim": 115, | |
| "action_dim": 44, | |
| "state_mean": [ | |
| 0.04288653798730328, | |
| 0.13674034348240588, | |
| 0.046433781893802324, | |
| -2.0619235712087356, | |
| 1.5342731286914628, | |
| 1.6628239558772062, | |
| 0.9240837930906998, | |
| 0.816409103496868, | |
| 0.8051654710121033, | |
| 0.7653374474510276, | |
| 1.4737239544255722, | |
| -0.06264335040236066, | |
| -0.03206316319944503, | |
| -0.21793839222103267, | |
| 0.12583651282794892, | |
| 0.061183433058537955, | |
| 0.02496654935934882, | |
| 0.5745285975738753, | |
| 0.1538207108376746, | |
| 0.09373733816672507, | |
| 0.09370298757511572, | |
| 0.3155877969168843, | |
| 0.12555309067146705, | |
| 0.005681613892027493, | |
| 0.00372771716152068, | |
| 0.005258446411256415, | |
| 0.030108497357295344, | |
| -0.000900709877312097, | |
| 0.009504267182617626, | |
| 0.024459954651113603, | |
| 0.00033202388017521524, | |
| -0.0004306502091775368, | |
| 0.001404575782840909, | |
| 0.0005137609271662429, | |
| -3.8759322316914694e-05, | |
| -1.0347250998704811e-05, | |
| -0.0006290203650788836, | |
| 8.380351592519906e-05, | |
| 6.546509475142263e-05, | |
| -0.00021942676170196175, | |
| 0.0008230296656696228, | |
| 0.00017241683887526656, | |
| 5.852135631326535e-05, | |
| 0.00011596699891886778, | |
| 0.00011124236944740387, | |
| 9.190410577736714e-05, | |
| 0.035326187415109185, | |
| 0.49188913077446317, | |
| -0.058835031383955225, | |
| -2.1856550620360573, | |
| -1.6558745168530034, | |
| 1.4095060560658104, | |
| -0.49597544861983306, | |
| 0.9625880847061694, | |
| 0.954679190086535, | |
| 0.9555639449353797, | |
| 0.2709511595503492, | |
| 0.00010931448035537312, | |
| -0.00022687942145509942, | |
| -0.00020189710968101132, | |
| 8.419013710917577e-05, | |
| 0.9666097728756811, | |
| 0.942936982712011, | |
| 0.9462822997260961, | |
| 0.7085566812039468, | |
| 0.9670218522431441, | |
| 0.9508673151559214, | |
| 0.9529723423660903, | |
| 0.7892013252976242, | |
| -0.001589877297947904, | |
| 0.011684357173099394, | |
| -0.007625214922315848, | |
| 0.015594543283683789, | |
| -0.013517819622151114, | |
| 0.003422636192565145, | |
| -0.009942204053689552, | |
| 0.022893865127725156, | |
| 0.022635131804097458, | |
| 0.022475748232055594, | |
| 0.005862162970660792, | |
| 6.97056100179147e-06, | |
| 7.296231818327137e-06, | |
| 2.6030863939870494e-06, | |
| 0.00017229575119540882, | |
| 0.0224319729643515, | |
| 0.021786856673617135, | |
| 0.02184704743154803, | |
| 0.01528123343267341, | |
| 0.02211566655505853, | |
| 0.021634084048202173, | |
| 0.02173357288037407, | |
| 0.01765279652662273, | |
| 0.0, | |
| 0.0, | |
| 0.09474681232137415, | |
| 0.25013943929165033, | |
| 0.2651461931983933, | |
| 0.013431297727702917, | |
| 0.02769473496143718, | |
| -0.0012260828989151418, | |
| -0.11564897539749167, | |
| -0.16789899743058415, | |
| 0.19435726838279246, | |
| 0.057545506407349026, | |
| -0.21265626902610132, | |
| 0.1646673942984483, | |
| -0.10119918518919399, | |
| 0.16728000222887207, | |
| 0.44398974413685666, | |
| 0.06613374503223196, | |
| 0.386133739362895, | |
| 0.45087347284192286, | |
| 0.9008734636532421, | |
| 0.22613374145595327, | |
| 0.6758734638239425 | |
| ], | |
| "state_std": [ | |
| 0.1323251628096686, | |
| 0.1697843937326636, | |
| 0.12054569671039475, | |
| 0.49451952166077506, | |
| 0.11690176058435593, | |
| 0.20156021848263, | |
| 0.5014636482468414, | |
| 0.5782148079112918, | |
| 0.5696979766174964, | |
| 0.5427839648362836, | |
| 0.5283224905294358, | |
| 0.04446119616192154, | |
| 0.024035199223919806, | |
| 0.15368953457202408, | |
| 0.08911392568265514, | |
| 0.04354925107883982, | |
| 0.017765915375635828, | |
| 0.407401182521642, | |
| 0.057798212759107265, | |
| 0.06645303976648123, | |
| 0.06645514619250362, | |
| 0.22358945421741488, | |
| 0.04458795993696373, | |
| 0.019728797391223584, | |
| 0.054308805181557736, | |
| 0.019651312644730953, | |
| 0.06097160148594628, | |
| 0.02951211433093017, | |
| 0.028700069356785318, | |
| 0.05817650930302863, | |
| 0.12102447918265562, | |
| 0.11963909474130202, | |
| 0.11309518184910379, | |
| 0.1598482605173037, | |
| 0.009610892554430917, | |
| 0.006407764661019372, | |
| 0.03424972174290378, | |
| 0.018628064899747082, | |
| 0.010772872955467395, | |
| 0.006947792282358337, | |
| 0.08460717854726965, | |
| 0.017390844694449056, | |
| 0.014220014656222295, | |
| 0.014466774043009303, | |
| 0.04645394630830186, | |
| 0.014227550413471323, | |
| 0.11176653631539743, | |
| 0.2265818121531123, | |
| 0.14154275182489875, | |
| 0.2900654321381662, | |
| 0.24493977821126542, | |
| 0.17729474410154797, | |
| 0.2492092871714037, | |
| 0.5397412968334564, | |
| 0.5348924714331756, | |
| 0.5354651920026771, | |
| 0.14682442018972894, | |
| 0.00021990044605639078, | |
| 0.00046343493205563513, | |
| 0.0008668064739340508, | |
| 0.0014702814098783653, | |
| 0.5418413349307104, | |
| 0.527515285070117, | |
| 0.529535190412347, | |
| 0.3901708542029608, | |
| 0.541912022320124, | |
| 0.5321149801674138, | |
| 0.5334086518919297, | |
| 0.4365637437457893, | |
| 0.02761171460136642, | |
| 0.10761240120576013, | |
| 0.0265837863961376, | |
| 0.05226969545687878, | |
| 0.04565729730732938, | |
| 0.0674976653132211, | |
| 0.10888309175991831, | |
| 0.08634091678449456, | |
| 0.08591726265490472, | |
| 0.08567469585944339, | |
| 0.04984669252093568, | |
| 0.0011834373567023786, | |
| 0.0020107524220593148, | |
| 0.004047280777681443, | |
| 0.0006895896077517554, | |
| 0.0845333929694359, | |
| 0.08429413775130642, | |
| 0.08411454912516508, | |
| 0.08139861238034125, | |
| 0.0834568735199508, | |
| 0.08331379157804823, | |
| 0.0832036624495013, | |
| 0.08092563179497363, | |
| 1.0, | |
| 1.0, | |
| 0.12645305922887937, | |
| 0.177591451048432, | |
| 0.21813746676327656, | |
| 0.020488273361237277, | |
| 0.09080088709619835, | |
| 0.15873536707414268, | |
| 0.11567142157476097, | |
| 0.08412878370879733, | |
| 0.077539018948502, | |
| 0.11866112787900288, | |
| 0.09697925098605621, | |
| 0.0974443185018945, | |
| 0.1100123664694693, | |
| 0.07669627125956627, | |
| 0.21954707759460004, | |
| 0.0500695453799171, | |
| 0.05006954553275347, | |
| 0.03880589936617835, | |
| 0.03880589018928889, | |
| 0.050069545379917105, | |
| 0.03880589476911257 | |
| ], | |
| "action_mean": [ | |
| 0.0065692331831886455, | |
| -0.0035083501998880305, | |
| 0.016177050343203755, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| -0.00025520686788098497, | |
| 0.0022970535341157046, | |
| 0.0009854353200893866, | |
| 0.000496650159397566, | |
| 0.016031579284318174, | |
| 0.007918784387660834, | |
| 0.0033054270616708174, | |
| 0.00051382486801012, | |
| -0.0173383201614513, | |
| -0.003744175527156484, | |
| -0.003072130822808907, | |
| 9.049850821875803e-05, | |
| 0.0007606914716951713, | |
| 0.00023555971251717096, | |
| 0.0027632939928126862, | |
| 0.001108886504084009, | |
| 0.00661257425494189, | |
| 0.00582850867966778, | |
| 0.0010432681247837874, | |
| 0.0031466778103525646, | |
| 0.0023548759467489507, | |
| 0.0, | |
| -5.465724017768656e-05, | |
| 0.024608345326258472, | |
| 0.022597501104569387, | |
| 0.022391460973268947, | |
| 0.00011343971072754971, | |
| 0.028562792459930736, | |
| 0.03443389589478244, | |
| 0.030468730175230066, | |
| 0.00010094855484050566, | |
| 0.028120415243389936, | |
| 0.03276123786590078, | |
| 0.02941621675620704, | |
| 0.25368009835147537, | |
| -4.2095068554587885e-05, | |
| 0.15162403685438494, | |
| 0.11130172446626456 | |
| ], | |
| "action_std": [ | |
| 0.023640094973636283, | |
| 0.020848655989867355, | |
| 0.037549709215205916, | |
| 0.0001, | |
| 0.0001, | |
| 0.0001, | |
| 0.009544385080435841, | |
| 0.1222530839876566, | |
| 0.009884798973118397, | |
| 0.014250772917002648, | |
| 0.012017914723871488, | |
| 0.12049015677916049, | |
| 0.00516822976785799, | |
| 0.014363070174484937, | |
| 0.03883209135509085, | |
| 0.11473615281779213, | |
| 0.08560571416907214, | |
| 0.046899850402043045, | |
| 0.16096191196847418, | |
| 0.018755060677853957, | |
| 0.01708032124628047, | |
| 0.014105470963568822, | |
| 0.028671687367798838, | |
| 0.03449417946236816, | |
| 0.09678410511590295, | |
| 0.016263426224494944, | |
| 0.01152926995981734, | |
| 0.0001, | |
| 0.00013996089290923343, | |
| 0.08382809810431424, | |
| 0.08373600137055479, | |
| 0.08349221877116356, | |
| 0.0002473721570071151, | |
| 0.08284901849165392, | |
| 0.08119714218609464, | |
| 0.08165910207794713, | |
| 0.00044197100110018026, | |
| 0.08300335937414155, | |
| 0.0815149579824264, | |
| 0.0819114704012431, | |
| 0.1359709230693707, | |
| 0.0007402241931053582, | |
| 0.09410645414525456, | |
| 0.082609208104889 | |
| ], | |
| "state_norm_policy": "continuous_only", | |
| "state_fields": [ | |
| { | |
| "path": "obs/agent/panda_leaphand-1/qpos", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 23, | |
| "slice": [ | |
| 0, | |
| 23 | |
| ] | |
| }, | |
| { | |
| "path": "obs/agent/panda_leaphand-1/qvel", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 23, | |
| "slice": [ | |
| 23, | |
| 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/ball_hit_once", | |
| "dtype": "bool", | |
| "kind": "bool", | |
| "dim": 1, | |
| "slice": [ | |
| 92, | |
| 93 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/ball_on_racket", | |
| "dtype": "bool", | |
| "kind": "bool", | |
| "dim": 1, | |
| "slice": [ | |
| 93, | |
| 94 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/ball_pos", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 3, | |
| "slice": [ | |
| 94, | |
| 97 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/ball_velocity", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 3, | |
| "slice": [ | |
| 97, | |
| 100 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/left_tcp_pos", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 3, | |
| "slice": [ | |
| 100, | |
| 103 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/racket_pos", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 3, | |
| "slice": [ | |
| 103, | |
| 106 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/right_tcp_pos", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 3, | |
| "slice": [ | |
| 106, | |
| 109 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/target_bounds", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 4, | |
| "slice": [ | |
| 109, | |
| 113 | |
| ] | |
| }, | |
| { | |
| "path": "obs/extra/target_center_xy", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 2, | |
| "slice": [ | |
| 113, | |
| 115 | |
| ] | |
| } | |
| ], | |
| "state_norm_slices": [ | |
| [ | |
| 0, | |
| 23 | |
| ], | |
| [ | |
| 23, | |
| 46 | |
| ], | |
| [ | |
| 46, | |
| 69 | |
| ], | |
| [ | |
| 69, | |
| 92 | |
| ], | |
| [ | |
| 94, | |
| 97 | |
| ], | |
| [ | |
| 97, | |
| 100 | |
| ], | |
| [ | |
| 100, | |
| 103 | |
| ], | |
| [ | |
| 103, | |
| 106 | |
| ], | |
| [ | |
| 106, | |
| 109 | |
| ], | |
| [ | |
| 109, | |
| 113 | |
| ], | |
| [ | |
| 113, | |
| 115 | |
| ] | |
| ], | |
| "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)." | |
| } |