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| "state_norm_policy": "continuous_only", |
| "state_fields": [ |
| { |
| "path": "obs/agent/mobile_panda_leaphand_left_urdf-0/qpos", |
| "dtype": "float32", |
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| "slice": [ |
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| 26 |
| ] |
| }, |
| { |
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| 52 |
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| }, |
| { |
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| }, |
| { |
| "path": "obs/agent/mobile_panda_leaphand_urdf-1/qvel", |
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| "dim": 26, |
| "slice": [ |
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| 104 |
| ] |
| }, |
| { |
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| "dim": 3, |
| "slice": [ |
| 104, |
| 107 |
| ] |
| }, |
| { |
| "path": "obs/extra/distance_to_ball", |
| "dtype": "float32", |
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| "dim": 1, |
| "slice": [ |
| 107, |
| 108 |
| ] |
| }, |
| { |
| "path": "obs/extra/distance_to_basket", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 108, |
| 109 |
| ] |
| }, |
| { |
| "path": "obs/extra/is_ball_at_shooting_height", |
| "dtype": "bool", |
| "kind": "bool", |
| "dim": 1, |
| "slice": [ |
| 109, |
| 110 |
| ] |
| }, |
| { |
| "path": "obs/extra/is_ball_grasped_by_both_hands", |
| "dtype": "bool", |
| "kind": "bool", |
| "dim": 1, |
| "slice": [ |
| 110, |
| 111 |
| ] |
| }, |
| { |
| "path": "obs/extra/is_ball_in_basket", |
| "dtype": "bool", |
| "kind": "bool", |
| "dim": 1, |
| "slice": [ |
| 111, |
| 112 |
| ] |
| }, |
| { |
| "path": "obs/extra/is_robot_near_basket", |
| "dtype": "bool", |
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| "dim": 1, |
| "slice": [ |
| 112, |
| 113 |
| ] |
| }, |
| { |
| "path": "obs/extra/left_tcp_position", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 3, |
| "slice": [ |
| 113, |
| 116 |
| ] |
| }, |
| { |
| "path": "obs/extra/right_tcp_position", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 3, |
| "slice": [ |
| 116, |
| 119 |
| ] |
| }, |
| { |
| "path": "obs/extra/target_basket_position", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 3, |
| "slice": [ |
| 119, |
| 122 |
| ] |
| } |
| ], |
| "state_norm_slices": [ |
| [ |
| 0, |
| 26 |
| ], |
| [ |
| 26, |
| 52 |
| ], |
| [ |
| 52, |
| 78 |
| ], |
| [ |
| 78, |
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| ], |
| [ |
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| [ |
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| [ |
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| [ |
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| [ |
| 116, |
| 119 |
| ], |
| [ |
| 119, |
| 122 |
| ] |
| ], |
| "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)." |
| } |
