{
  "count": 9034,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera_0",
    "robot_camera_1",
    "top_camera"
  ],
  "state_dim": 36,
  "action_dim": 14,
  "state_mean": [
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    -0.0666751646223294,
    2.3126572561733805,
    0.8311087909860354,
    0.03168226179116519,
    0.031665040466885785,
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    0.00010400502412440677,
    -0.0034697394730868565,
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    -6.981325398133201e-05,
    -0.0016263417365259085,
    0.00017543105103472935,
    0.00027344243665709377,
    -0.13944184846918628,
    -0.8544980214030076,
    0.20504465460788768,
    -2.3847700801206058,
    0.04988169943273453,
    1.6655442537473897,
    0.8940379222921363,
    0.03132107271158229,
    0.03134952925594277,
    -0.026848127657940764,
    0.0056209920023052,
    0.05014019860664442,
    0.032787735595796744,
    0.011251552817134636,
    -0.01895177595073379,
    0.029401556177445717,
    -0.0007850139102680689,
    -0.0006269606072775003
  ],
  "state_std": [
    0.755665854359851,
    0.4597767896556016,
    0.7617790567259184,
    0.34098234830107843,
    0.49080420591239765,
    0.6231602350040177,
    0.4652205543615025,
    0.010428982389884494,
    0.01045058921374267,
    0.44940081486840483,
    0.265064144202672,
    0.4345700732796123,
    0.1745695228269609,
    0.452608391343679,
    0.2349634111961785,
    0.39084415036812586,
    0.01135073209332731,
    0.011544197284606103,
    0.2691437891850959,
    0.23854885652896196,
    0.5113407860574007,
    0.43737864916238034,
    0.15372356956278863,
    0.42534116735826744,
    0.3637511867625859,
    0.010599883886778032,
    0.010571536705959636,
    0.13414829896041713,
    0.18383400876822,
    0.1606077441995877,
    0.1378556383282686,
    0.1288436839382006,
    0.20669739589654704,
    0.1372000768919825,
    0.01549122716203008,
    0.015918509585585685
  ],
  "action_mean": [
    -2.310007813891558e-10,
    -8.157371339846533e-09,
    -2.1978965342928933e-09,
    -6.597813236151276e-10,
    0.0,
    0.0,
    0.22891299535089663,
    -0.02045345265325097,
    -0.002886854906360053,
    -7.080311235638351e-05,
    -0.0006085991008318129,
    0.002877227285741203,
    0.0023998433997442646,
    0.19216294000442768
  ],
  "action_std": [
    0.029758664485631695,
    0.07729727849556209,
    0.06098537442568962,
    0.023372160512741064,
    0.0001,
    0.0001,
    0.9734468914940769,
    0.04840757441639975,
    0.026689791550840013,
    0.04253350416325782,
    0.021442721868674575,
    0.013405682885788684,
    0.01126002128044778,
    0.9813630390884175
  ],
  "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
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      27
    ],
    [
      27,
      36
    ]
  ],
  "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)."
}