{
  "count": 7584,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
  ],
  "state_dim": 50,
  "action_dim": 10,
  "state_mean": [
    0.7645624067392671,
    -0.9725655904604625,
    0.764227279140094,
    -0.10235017168919198,
    -0.5143148289680108,
    0.08356033086854542,
    -2.0542469373452263,
    0.03435729147785064,
    1.5501357037023904,
    1.2010632190373942,
    0.03147590557532777,
    0.031493049648389976,
    0.05361796815525552,
    -0.06641471426698545,
    0.0729172313645472,
    -0.00944384399101011,
    0.05850019573706702,
    -0.0045409351647795896,
    0.04438692003504348,
    0.0003994918378579634,
    -0.0032121951899193642,
    0.04184555915737613,
    -0.0008945900316422995,
    -0.000725533919459913,
    0.7186595725312138,
    0.6132074584909382,
    0.8081629829882064,
    0.6051096718931248,
    0.9187835530782679,
    0.8062965261596667,
    0.7127779632618154,
    0.8738082727645269,
    -0.0007051983359866857,
    0.026942285591153855,
    0.0013965059194268447,
    -0.006784519920034906,
    0.00874956381724494,
    4.708771755408386e-05,
    0.8756876401760406,
    -0.26388309960045264,
    0.801803469657898,
    0.7245351672015361,
    -0.2611866719683805,
    0.8230142730292138,
    0.7645624067392671,
    -0.9725655904604625,
    0.764227279140094,
    1.0,
    0.0,
    0.4000000059604645
  ],
  "state_std": [
    0.412002100421377,
    0.46511484477931264,
    0.7686789568569795,
    0.21589370649552136,
    0.3718972039501848,
    0.18411483340884685,
    0.39896737712073116,
    0.06645518590222012,
    0.06968295539816154,
    0.6578886869345753,
    0.011203888278549026,
    0.011209691660973187,
    0.20556525011042268,
    0.17285726458917922,
    0.28207526012516926,
    0.05883614703384173,
    0.2457313364190313,
    0.04783437669797584,
    0.22303741916114744,
    0.024297707082982508,
    0.05680174206563225,
    0.28330261787443745,
    0.031764048738954574,
    0.03216301560522951,
    0.022931347448251097,
    0.15994763674706178,
    0.00393616401880587,
    0.04047809029662345,
    0.0507870943416264,
    0.011705465813230911,
    0.057465244525951094,
    0.037661297731319876,
    0.02851456157792953,
    0.12415889066984721,
    0.02934412435882106,
    0.035610789545251154,
    0.04423815928141894,
    0.04085413336833187,
    0.03350174065633835,
    0.011635439257769595,
    0.0001,
    0.10212959756421007,
    0.10948182248827949,
    0.02574577277403,
    0.412002100421377,
    0.46511484477931264,
    0.7686789568569795,
    0.0001,
    0.0001,
    0.0001
  ],
  "action_mean": [
    0.7755869901758708,
    -0.985404259509521,
    0.7797831036076776,
    0.0052823507323279525,
    0.00891706556816613,
    0.004899333400125242,
    0.00015592894422735307,
    0.00021207974197907784,
    0.007943733330107592,
    0.287710970464135
  ],
  "action_std": [
    0.41204907534117713,
    0.457520768497896,
    0.7707930791635949,
    0.026507473898395348,
    0.053103393155469546,
    0.03894097225501354,
    0.0016500750227315837,
    0.002347954052329834,
    0.055376170766371,
    0.9577172899528259
  ],
  "state_norm_policy": "continuous_only",
  "state_fields": [
    {
      "path": "obs/agent/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        0,
        12
      ]
    },
    {
      "path": "obs/agent/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 12,
      "slice": [
        12,
        24
      ]
    },
    {
      "path": "obs/extra/ball_positions",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 6,
      "slice": [
        24,
        30
      ]
    },
    {
      "path": "obs/extra/ball_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 2,
      "slice": [
        30,
        32
      ]
    },
    {
      "path": "obs/extra/ball_velocities",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 6,
      "slice": [
        32,
        38
      ]
    },
    {
      "path": "obs/extra/bridge_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        38,
        41
      ]
    },
    {
      "path": "obs/extra/cue_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        41,
        44
      ]
    },
    {
      "path": "obs/extra/robot_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        44,
        47
      ]
    },
    {
      "path": "obs/extra/table_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        47,
        50
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      12
    ],
    [
      12,
      24
    ],
    [
      24,
      30
    ],
    [
      30,
      32
    ],
    [
      32,
      38
    ],
    [
      38,
      41
    ],
    [
      41,
      44
    ],
    [
      44,
      47
    ],
    [
      47,
      50
    ]
  ],
  "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)."
}