{
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  "target_image_size": [
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  "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": [
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        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/blue_ball_positions",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        36,
        48
      ]
    },
    {
      "path": "obs/extra/blue_bowl_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        48,
        51
      ]
    },
    {
      "path": "obs/extra/red_ball_positions",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        51,
        63
      ]
    },
    {
      "path": "obs/extra/red_bowl_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        63,
        66
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      27
    ],
    [
      27,
      36
    ],
    [
      36,
      48
    ],
    [
      48,
      51
    ],
    [
      51,
      63
    ],
    [
      63,
      66
    ]
  ],
  "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)."
}