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"state_fields": [ { "path": "obs/agent/panda_leaphand-1/qpos", "dtype": "float32", "kind": "continuous", "dim": 23, "slice": [ 0, 23 ] }, { "path": "obs/agent/panda_leaphand-1/qvel", "dtype": "float32", "kind": "continuous", "dim": 23, "slice": [ 23, 46 ] }, { "path": "obs/agent/panda_leaphand_left-0/qpos", "dtype": "float32", "kind": "continuous", "dim": 23, "slice": [ 46, 69 ] }, { "path": "obs/agent/panda_leaphand_left-0/qvel", "dtype": "float32", "kind": "continuous", "dim": 23, "slice": [ 69, 92 ] }, { "path": "obs/extra/ball_hit_once", "dtype": "bool", "kind": "bool", "dim": 1, "slice": [ 92, 93 ] }, { "path": "obs/extra/ball_on_racket", "dtype": "bool", "kind": "bool", "dim": 1, "slice": [ 93, 94 ] }, { "path": "obs/extra/ball_pos", "dtype": "float32", "kind": "continuous", "dim": 3, "slice": [ 94, 97 ] }, { "path": "obs/extra/ball_velocity", "dtype": "float32", "kind": "continuous", "dim": 3, "slice": [ 97, 100 ] }, { "path": "obs/extra/left_tcp_pos", "dtype": "float32", "kind": "continuous", "dim": 3, "slice": [ 100, 103 ] }, { "path": "obs/extra/racket_pos", "dtype": "float32", "kind": "continuous", "dim": 3, "slice": [ 103, 106 ] }, { "path": "obs/extra/right_tcp_pos", "dtype": "float32", "kind": "continuous", "dim": 3, "slice": [ 106, 109 ] }, { "path": "obs/extra/target_bounds", "dtype": "float32", "kind": "continuous", "dim": 4, "slice": [ 109, 113 ] }, { "path": "obs/extra/target_center_xy", "dtype": "float32", "kind": "continuous", "dim": 2, "slice": [ 113, 115 ] } ], "state_norm_slices": [ [ 0, 23 ], [ 23, 46 ], [ 46, 69 ], [ 69, 92 ], [ 94, 97 ], [ 97, 100 ], [ 100, 103 ], [ 103, 106 ], [ 106, 109 ], [ 109, 113 ], [ 113, 115 ] ], "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)." }