| { |
| "count": 6319, |
| "target_image_size": [ |
| 192, |
| 256 |
| ], |
| "cameras": [ |
| "front_camera", |
| "left_camera", |
| "robot_camera", |
| "top_camera" |
| ], |
| "state_dim": 36, |
| "action_dim": 7, |
| "state_mean": [ |
| -0.1394716440084895, |
| 0.05042508635933869, |
| 0.1381086183903629, |
| -2.4464396577900884, |
| 0.03629208664601886, |
| 2.6435940652581067, |
| 0.7774187867870158, |
| 0.02210661017370292, |
| 0.022103612521280992, |
| 0.019454994397463576, |
| 0.04312395773705438, |
| -0.026995308239262324, |
| -0.014330183389227853, |
| -0.005545919320643727, |
| 0.049156042916762725, |
| -0.004103310116325595, |
| -0.00021869319520667824, |
| -0.00023183302465425206, |
| 1.0199135903321976, |
| 0.14800349252204445, |
| 0.1716619478844549, |
| 0.06008408817047442, |
| 0.05200339308224507, |
| 0.026988758530611, |
| -1.598825008360942, |
| 0.005930520571717584, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.45948170868746446, |
| 0.08502658113496496, |
| 0.07141473147034184, |
| -0.022098172973613196, |
| -0.17808834441662927 |
| ], |
| "state_std": [ |
| 0.921066635982991, |
| 0.339712444384242, |
| 1.1903786917218158, |
| 0.24735169390779882, |
| 0.5054963665968157, |
| 0.29433146582627956, |
| 0.7690249375289894, |
| 0.014915186715410209, |
| 0.014917765695631798, |
| 0.42368074752221285, |
| 0.4990088152688228, |
| 0.45407687937230184, |
| 0.2811456620691872, |
| 0.5761200750229094, |
| 0.39423865655289053, |
| 0.5518646550502985, |
| 0.029054954767893566, |
| 0.029128482336075172, |
| 2.8351367225073796, |
| 0.12111974460674667, |
| 0.36070067434818065, |
| 0.03261062501141291, |
| 0.031066123835378295, |
| 0.016604532159460453, |
| 0.2524283704664579, |
| 0.11192004809692865, |
| 1.0, |
| 1.0, |
| 1.0, |
| 1.0, |
| 1.0, |
| 1.1641477287253694, |
| 0.12336362851763134, |
| 0.11582149361985712, |
| 0.2841087170264726, |
| 0.5880255721280365 |
| ], |
| "action_mean": [ |
| 0.0049490492916509, |
| -0.0024082749372345866, |
| -0.010255650828384224, |
| -0.0008906738864907014, |
| -0.0010210463478657207, |
| -0.000912826008710362, |
| -0.16664029118531412 |
| ], |
| "action_std": [ |
| 0.07831053038434772, |
| 0.10087909888261044, |
| 0.5905165549701541, |
| 0.023251336935234457, |
| 0.11430961702036445, |
| 0.048262839994011694, |
| 0.9860177601613861 |
| ], |
| "state_norm_policy": "continuous_only", |
| "state_fields": [ |
| { |
| "path": "obs/agent/qpos", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 9, |
| "slice": [ |
| 0, |
| 9 |
| ] |
| }, |
| { |
| "path": "obs/agent/qvel", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 9, |
| "slice": [ |
| 9, |
| 18 |
| ] |
| }, |
| { |
| "path": "obs/extra/egg_angular_speed", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 18, |
| 19 |
| ] |
| }, |
| { |
| "path": "obs/extra/egg_height", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 19, |
| 20 |
| ] |
| }, |
| { |
| "path": "obs/extra/egg_linear_speed", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 20, |
| 21 |
| ] |
| }, |
| { |
| "path": "obs/extra/egg_to_pan_distance", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 21, |
| 22 |
| ] |
| }, |
| { |
| "path": "obs/extra/egg_to_pan_xy_distance", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 22, |
| 23 |
| ] |
| }, |
| { |
| "path": "obs/extra/egg_to_pan_z_distance", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 23, |
| 24 |
| ] |
| }, |
| { |
| "path": "obs/extra/gripper_closing_axis_yaw", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 24, |
| 25 |
| ] |
| }, |
| { |
| "path": "obs/extra/gripper_yaw_error", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 25, |
| 26 |
| ] |
| }, |
| { |
| "path": "obs/extra/is_egg_flipped", |
| "dtype": "bool", |
| "kind": "bool", |
| "dim": 1, |
| "slice": [ |
| 26, |
| 27 |
| ] |
| }, |
| { |
| "path": "obs/extra/is_egg_in_pan", |
| "dtype": "bool", |
| "kind": "bool", |
| "dim": 1, |
| "slice": [ |
| 27, |
| 28 |
| ] |
| }, |
| { |
| "path": "obs/extra/is_egg_still", |
| "dtype": "bool", |
| "kind": "bool", |
| "dim": 1, |
| "slice": [ |
| 28, |
| 29 |
| ] |
| }, |
| { |
| "path": "obs/extra/is_pan_on_stove", |
| "dtype": "bool", |
| "kind": "bool", |
| "dim": 1, |
| "slice": [ |
| 29, |
| 30 |
| ] |
| }, |
| { |
| "path": "obs/extra/is_success", |
| "dtype": "bool", |
| "kind": "bool", |
| "dim": 1, |
| "slice": [ |
| 30, |
| 31 |
| ] |
| }, |
| { |
| "path": "obs/extra/pan_angular_velocity", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 31, |
| 32 |
| ] |
| }, |
| { |
| "path": "obs/extra/pan_to_stove_xy_distance", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 32, |
| 33 |
| ] |
| }, |
| { |
| "path": "obs/extra/pan_to_stove_z_distance", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 33, |
| 34 |
| ] |
| }, |
| { |
| "path": "obs/extra/pan_yaw", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 34, |
| 35 |
| ] |
| }, |
| { |
| "path": "obs/extra/stove_yaw", |
| "dtype": "float32", |
| "kind": "continuous", |
| "dim": 1, |
| "slice": [ |
| 35, |
| 36 |
| ] |
| } |
| ], |
| "state_norm_slices": [ |
| [ |
| 0, |
| 9 |
| ], |
| [ |
| 9, |
| 18 |
| ], |
| [ |
| 18, |
| 19 |
| ], |
| [ |
| 19, |
| 20 |
| ], |
| [ |
| 20, |
| 21 |
| ], |
| [ |
| 21, |
| 22 |
| ], |
| [ |
| 22, |
| 23 |
| ], |
| [ |
| 23, |
| 24 |
| ], |
| [ |
| 24, |
| 25 |
| ], |
| [ |
| 25, |
| 26 |
| ], |
| [ |
| 31, |
| 32 |
| ], |
| [ |
| 32, |
| 33 |
| ], |
| [ |
| 33, |
| 34 |
| ], |
| [ |
| 34, |
| 35 |
| ], |
| [ |
| 35, |
| 36 |
| ] |
| ], |
| "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)." |
| } |
