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  "state_fields": [
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      "dtype": "float32",
      "kind": "continuous",
      "dim": 23,
      "slice": [
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      ]
    },
    {
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      "dtype": "float32",
      "kind": "continuous",
      "dim": 23,
      "slice": [
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      ]
    },
    {
      "path": "obs/agent/panda_leaphand_left-0/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 23,
      "slice": [
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      ]
    },
    {
      "path": "obs/agent/panda_leaphand_left-0/qvel",
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    ],
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    ]
  ],
  "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)."
}