{
  "count": 5662,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
  ],
  "state_dim": 49,
  "action_dim": 22,
  "state_mean": [
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    8.772076384858584e-05,
    5.045035854035024e-05,
    0.008496149656464117,
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    0.04292509379276579,
    0.04249492467123474,
    7.861600426439157e-05,
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    0.0001,
    0.0001,
    0.0001,
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    0.09354626914554282,
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    0.08785534131642303,
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    0.12558984683269034
  ],
  "state_norm_policy": "continuous_only",
  "state_fields": [
    {
      "path": "obs/agent/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 23,
      "slice": [
        0,
        23
      ]
    },
    {
      "path": "obs/agent/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 23,
      "slice": [
        23,
        46
      ]
    },
    {
      "path": "obs/extra/below_rim_ratio",
      "dtype": "float64",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        46,
        47
      ]
    },
    {
      "path": "obs/extra/com_xy_dist",
      "dtype": "float64",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        47,
        48
      ]
    },
    {
      "path": "obs/extra/inside_ratio",
      "dtype": "float64",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        48,
        49
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      23
    ],
    [
      23,
      46
    ],
    [
      46,
      47
    ],
    [
      47,
      48
    ],
    [
      48,
      49
    ]
  ],
  "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)."
}