{
  "count": 20393,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
  ],
  "state_dim": 27,
  "action_dim": 7,
  "state_mean": [
    -0.09026727409625407,
    -0.7618137239883526,
    0.2650996507515778,
    -2.572413649623557,
    0.1480506349257184,
    1.8125757394610695,
    0.8578922638697648,
    0.028707892666083555,
    0.028695487282637246,
    -0.013832036293987182,
    0.012929602100024449,
    0.006359279757224198,
    0.005078877425778722,
    -0.00046644211563248424,
    0.006956786239975499,
    -0.006643846588504708,
    -0.0007680392042466047,
    -0.000751812673643931,
    -0.013368901942103883,
    0.028079074990234883,
    0.182951161772625,
    9.315652121968946e-06,
    0.0,
    0.0,
    0.20000000298023224,
    1.0,
    0.5156921127928258
  ],
  "state_std": [
    0.17923175712876788,
    0.39196817872501905,
    0.20887636582199814,
    0.3231272782448555,
    0.15813171995941885,
    0.3200356689551275,
    0.17131701365832658,
    0.015359746401472037,
    0.015375838037615192,
    0.0794985211197863,
    0.20092118183182225,
    0.10743885637021969,
    0.2564974254428571,
    0.20509829295212914,
    0.1942249368841783,
    0.09925578831682849,
    0.023535143643413633,
    0.02327375586508404,
    0.05113966853351007,
    0.07178109266539641,
    0.06423114178469168,
    0.00010041488026137228,
    0.0001,
    0.0001,
    0.0001,
    0.0001,
    0.16186708395272562
  ],
  "action_mean": [
    0.0134292537626764,
    -0.0033461548597030423,
    -0.007802709200915585,
    -0.0007404501654983346,
    0.0012164111151710313,
    0.0023290032520566707,
    0.23473740989555242
  ],
  "action_std": [
    0.0792508422829046,
    0.04328764845326686,
    0.08597459351059042,
    0.03820689445234737,
    0.01864597803744481,
    0.008457468799297624,
    0.9720588245551456
  ],
  "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_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        22,
        25
      ]
    },
    {
      "path": "obs/extra/task_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 2,
      "slice": [
        25,
        27
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      21
    ],
    [
      21,
      22
    ],
    [
      22,
      25
    ],
    [
      25,
      27
    ]
  ],
  "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)."
}