preprocessed/KitAssembly-v1/norm_stats.json

{
  "count": 21509,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
  ],
  "state_dim": 30,
  "action_dim": 7,
  "state_mean": [
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    0.07980178712840443,
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    -2.435941074875377,
    -0.0012819496621981714,
    2.4930818925160363,
    0.7846793190978082,
    0.030081305917934547,
    0.03008145407352123,
    -0.0008834185537909937,
    0.01545663686559229,
    -0.0002480378868992711,
    -0.0005120234042261727,
    0.00011933665038018022,
    0.014581988363941277,
    -0.0010777158001636197,
    0.0003160409832473413,
    0.00030502783796967486,
    0.04755991290796623,
    0.027616971854820295,
    0.04416484149994136,
    0.011885661884733233,
    -0.08351119343408142,
    0.028693010567416674,
    -0.018905687969071622,
    0.02055639440388218,
    0.0459546217182714,
    0.013969209664658856,
    -0.043963465941818665,
    0.020462929769247185
  ],
  "state_std": [
    0.18109218741018626,
    0.28652262840748977,
    0.18220825470574625,
    0.18668222210158192,
    0.10300371305650002,
    0.25311297288812706,
    0.367472594598734,
    0.009582941245234136,
    0.009582747842962265,
    0.0484042255918925,
    0.17613098053731077,
    0.06548825867563948,
    0.08384600920346814,
    0.06357093399004267,
    0.1575501045487362,
    0.0903886782490202,
    0.017995221023872267,
    0.01805853240352509,
    0.044976721559930016,
    0.13160471309256402,
    0.05662698035788953,
    0.055520799574031415,
    0.16731723943647078,
    0.05926432189441185,
    0.028098113593083517,
    0.0847863666678328,
    0.05412159321543299,
    0.06037767307216665,
    0.205839827952098,
    0.06111791401151402
  ],
  "action_mean": [
    0.003942063642050721,
    -0.0006275621670920445,
    -0.006400796657224553,
    0.0,
    0.0,
    0.0,
    -0.021897810218978103
  ],
  "action_std": [
    0.02876122005153691,
    0.050543972569900106,
    0.07415389193446786,
    0.0001,
    0.0001,
    0.0001,
    0.9997602192063927
  ],
  "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/cross_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        18,
        21
      ]
    },
    {
      "path": "obs/extra/cuboid_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        21,
        24
      ]
    },
    {
      "path": "obs/extra/square_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        24,
        27
      ]
    },
    {
      "path": "obs/extra/trapezoid_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        27,
        30
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      21
    ],
    [
      21,
      24
    ],
    [
      24,
      27
    ],
    [
      27,
      30
    ]
  ],
  "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)."
}