preprocessed/HitBilliard-v1/norm_stats.json

{
  "count": 7584,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
  ],
  "state_dim": 50,
  "action_dim": 10,
  "state_mean": [
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    4.708771755408386e-05,
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    -0.9725655904604625,
    0.764227279140094,
    1.0,
    0.0,
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  ],
  "state_std": [
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    0.03216301560522951,
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    0.037661297731319876,
    0.02851456157792953,
    0.12415889066984721,
    0.02934412435882106,
    0.035610789545251154,
    0.04423815928141894,
    0.04085413336833187,
    0.03350174065633835,
    0.011635439257769595,
    0.0001,
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    0.10948182248827949,
    0.02574577277403,
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    0.0001
  ],
  "action_mean": [
    0.7755869901758708,
    -0.985404259509521,
    0.7797831036076776,
    0.0052823507323279525,
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    0.007943733330107592,
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  "action_std": [
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    0.457520768497896,
    0.7707930791635949,
    0.026507473898395348,
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    0.03894097225501354,
    0.0016500750227315837,
    0.002347954052329834,
    0.055376170766371,
    0.9577172899528259
  ],
  "state_norm_policy": "continuous_only",
  "state_fields": [
    {
      "path": "obs/agent/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        0,
        12
      ]
    },
    {
      "path": "obs/agent/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        12,
        24
      ]
    },
    {
      "path": "obs/extra/ball_positions",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 6,
      "slice": [
        24,
        30
      ]
    },
    {
      "path": "obs/extra/ball_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 2,
      "slice": [
        30,
        32
      ]
    },
    {
      "path": "obs/extra/ball_velocities",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 6,
      "slice": [
        32,
        38
      ]
    },
    {
      "path": "obs/extra/bridge_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        38,
        41
      ]
    },
    {
      "path": "obs/extra/cue_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        41,
        44
      ]
    },
    {
      "path": "obs/extra/robot_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        44,
        47
      ]
    },
    {
      "path": "obs/extra/table_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        47,
        50
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      12
    ],
    [
      12,
      24
    ],
    [
      24,
      30
    ],
    [
      30,
      32
    ],
    [
      32,
      38
    ],
    [
      38,
      41
    ],
    [
      41,
      44
    ],
    [
      44,
      47
    ],
    [
      47,
      50
    ]
  ],
  "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)."
}