preprocessed/PivotBook-v1/norm_stats.json

{
  "count": 7180,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
  ],
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  "action_dim": 7,
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    1.5358957161703766e-05,
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    0.0,
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  "state_std": [
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    93.07731105095766,
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    0.16168353990292325,
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    0.09741066984960157,
    0.07734237118742454,
    1.0,
    1.0,
    1.0,
    0.003355856281397254,
    0.3094056366985495,
    0.19590827683032508,
    0.32864236444745615,
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    0.002419552050087027,
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    0.0,
    0.0,
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    0.0001,
    0.0001,
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  ],
  "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/book_orientation",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        18,
        21
      ]
    },
    {
      "path": "obs/extra/book_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        21,
        24
      ]
    },
    {
      "path": "obs/extra/distance_to_wall",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        24,
        25
      ]
    },
    {
      "path": "obs/extra/distance_to_wall_x",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        25,
        26
      ]
    },
    {
      "path": "obs/extra/is_at_wall",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        26,
        27
      ]
    },
    {
      "path": "obs/extra/is_upright",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        27,
        28
      ]
    },
    {
      "path": "obs/extra/is_wall_x_aligned",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        28,
        29
      ]
    },
    {
      "path": "obs/extra/pivot_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        29,
        30
      ]
    },
    {
      "path": "obs/extra/push_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        30,
        31
      ]
    },
    {
      "path": "obs/extra/wall_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        31,
        34
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      21
    ],
    [
      21,
      24
    ],
    [
      24,
      25
    ],
    [
      25,
      26
    ],
    [
      29,
      30
    ],
    [
      30,
      31
    ],
    [
      31,
      34
    ]
  ],
  "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)."
}