{
  "count": 9318,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera_0",
    "robot_camera_1",
    "top_camera"
  ],
  "state_dim": 43,
  "action_dim": 14,
  "state_mean": [
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  "state_std": [
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  "action_std": [
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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": [
        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
      ]
    },
    {
      "path": "obs/extra/box_coverage",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        36,
        37
      ]
    },
    {
      "path": "obs/extra/box_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        37,
        38
      ]
    },
    {
      "path": "obs/extra/box_to_target_dist",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        38,
        39
      ]
    },
    {
      "path": "obs/extra/is_box_at_target",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        39,
        40
      ]
    },
    {
      "path": "obs/extra/is_left_static",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        40,
        41
      ]
    },
    {
      "path": "obs/extra/is_right_static",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        41,
        42
      ]
    },
    {
      "path": "obs/extra/overlap_area",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        42,
        43
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      27
    ],
    [
      27,
      36
    ],
    [
      36,
      37
    ],
    [
      37,
      38
    ],
    [
      38,
      39
    ],
    [
      42,
      43
    ]
  ],
  "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)."
}