Add preprocessed/DualArmClothAlign-v1/norm_stats.json

preprocessed/DualArmClothAlign-v1/norm_stats.json

@@ -0,0 +1,230 @@
+{
+  "count": 3235,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera_0",
+    "robot_camera_1",
+    "top_camera"
+  ],
+  "state_dim": 39,
+  "action_dim": 14,
+  "state_mean": [
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+    0.3552870931676726,
+    -0.16275314350009332,
+    -2.1043393405180253,
+    0.12340486256148052,
+    2.4463562246820842,
+    0.6143297656909944,
+    0.021604270736797406,
+    0.021604344545748822,
+    0.0365971077219807,
+    0.09257275656625946,
+    -0.008472468425039573,
+    0.004301405771011269,
+    0.006431224949362062,
+    0.08054273538418336,
+    0.01866955490717122,
+    0.00013212546032686332,
+    0.0001338806151987305,
+    -0.1568870160374504,
+    0.38618759035422157,
+    0.07596323862966559,
+    -2.036182768120095,
+    -0.05021963724834965,
+    2.414085222948832,
+    0.7455629462344571,
+    0.021604307756324895,
+    0.021604162259643175,
+    -0.04277803917156715,
+    0.10697299777278502,
+    -0.0011831916236253125,
+    0.02968541794374971,
+    -0.001961493165360859,
+    0.07079711567675474,
+    -0.03650862529686194,
+    0.00013222742158931788,
+    0.00013006209656095405,
+    67.09684289597101,
+    0.16828366033560158,
+    0.0
+  ],
+  "state_std": [
+    0.22615362182572685,
+    0.3781548944921374,
+    0.0661543332903399,
+    0.1981655660309009,
+    0.08759318131638898,
+    0.2774999170705575,
+    0.2791356893992899,
+    0.019600188571923235,
+    0.019599887092012783,
+    0.09374379217309142,
+    0.2547609155627533,
+    0.07292193536685102,
+    0.15778941471120372,
+    0.06390033694186467,
+    0.15492059710339867,
+    0.14206198096939665,
+    0.038799889066593284,
+    0.03879969274630692,
+    0.22720605403916683,
+    0.4050318976939964,
+    0.06384811127960578,
+    0.2343795234342731,
+    0.06132056439448602,
+    0.26051206676655364,
+    0.28594963990446787,
+    0.019599423748441182,
+    0.019599665455900177,
+    0.0832040276119993,
+    0.23134909685481303,
+    0.054851180448854175,
+    0.147891905727644,
+    0.043161640581697816,
+    0.1669963785888932,
+    0.11709267513485197,
+    0.038799812265442865,
+    0.03879988523799559,
+    15.953249435858114,
+    0.33144402645163773,
+    1.0
+  ],
+  "action_mean": [
+    0.0164261464565025,
+    -0.022483864256110295,
+    -0.03935407022420184,
+    0.0,
+    0.0,
+    0.0,
+    0.09057187017001546,
+    0.03004687858581359,
+    0.026504595074252055,
+    -0.039082500880938224,
+    0.0,
+    0.0,
+    0.0,
+    0.09057187017001546
+  ],
+  "action_std": [
+    0.09848880395310154,
+    0.07162397277729025,
+    0.09819801604428928,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.9958899268161645,
+    0.08555453465211685,
+    0.0713714775720616,
+    0.0982457646146658,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.9958899268161645
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/panda-0/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        0,
+        9
+      ]
+    },
+    {
+      "path": "obs/agent/panda-0/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        9,
+        18
+      ]
+    },
+    {
+      "path": "obs/agent/panda-1/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        18,
+        27
+      ]
+    },
+    {
+      "path": "obs/agent/panda-1/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        27,
+        36
+      ]
+    },
+    {
+      "path": "obs/extra/angle_err_deg",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        36,
+        37
+      ]
+    },
+    {
+      "path": "obs/extra/cover_ratio",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        37,
+        38
+      ]
+    },
+    {
+      "path": "obs/extra/settled_on_table",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        38,
+        39
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      9
+    ],
+    [
+      9,
+      18
+    ],
+    [
+      18,
+      27
+    ],
+    [
+      27,
+      36
+    ],
+    [
+      36,
+      37
+    ],
+    [
+      37,
+      38
+    ]
+  ],
+  "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)."
+}