preprocessed/OpenBoxRetrieval-v1/norm_stats.json

{
  "count": 12328,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
  ],
  "state_dim": 29,
  "action_dim": 7,
  "state_mean": [
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    -0.27083926464953095,
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    -2.2539145109968315,
    1.596255884707019e-05,
    1.9856009839186026,
    0.7944301881935129,
    0.03691357803515277,
    0.03691417003720686,
    0.00013529250649289392,
    0.012182800660000282,
    -3.4866864592186244e-05,
    0.00350879591925856,
    -0.00023298307457640855,
    0.008454263115825476,
    -3.554899946465444e-05,
    -0.0004194206463652399,
    -0.00039113934939193914,
    0.07392786029305629,
    0.0004477634138712592,
    0.13930643394910944,
    -0.42168634790467624,
    -0.2403893353662887,
    -0.16438868749550725,
    0.07544863145160238,
    0.0004063122032487009,
    0.20000000298023224,
    0.5941623224121217,
    0.3939924261240816
  ],
  "state_std": [
    0.2821455981674005,
    0.2832146257013653,
    0.30135273313540245,
    0.21367741721619618,
    0.09869527051845003,
    0.28754828587824105,
    0.7667460411074143,
    0.0073191924120823305,
    0.007323936175874752,
    0.0414586806909116,
    0.10298385448568775,
    0.037077800490794496,
    0.11176914030092652,
    0.03589770955813782,
    0.12650856019840012,
    0.1667657931710247,
    0.013136267130556184,
    0.013159624328221056,
    0.033428229090266354,
    0.05842263455646525,
    0.0640398441525812,
    1.1482470079360565,
    0.611213624391073,
    0.7359397073444309,
    0.033104892523287514,
    0.058274581076299084,
    0.0001,
    0.4066528235277593,
    0.16810471539331243
  ],
  "action_mean": [
    0.005409511538359698,
    1.2613149048348936e-05,
    -0.0030165732500374823,
    0.0,
    0.0,
    -3.244646261026145e-05,
    0.717715768981181
  ],
  "action_std": [
    0.030024966078494936,
    0.026350618796286293,
    0.05661744666889172,
    0.0001,
    0.0001,
    0.03913415321941068,
    0.6963361867343618
  ],
  "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/banana_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        18,
        21
      ]
    },
    {
      "path": "obs/extra/box_lid_angle",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        21,
        22
      ]
    },
    {
      "path": "obs/extra/box_orientation",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 2,
      "slice": [
        22,
        24
      ]
    },
    {
      "path": "obs/extra/box_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        24,
        27
      ]
    },
    {
      "path": "obs/extra/task_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 2,
      "slice": [
        27,
        29
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      21
    ],
    [
      21,
      22
    ],
    [
      22,
      24
    ],
    [
      24,
      27
    ],
    [
      27,
      29
    ]
  ],
  "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)."
}