{
  "count": 14510,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
  ],
  "state_dim": 25,
  "action_dim": 7,
  "state_mean": [
    0.28662424825973454,
    0.4447150183943319,
    -0.3905624354818855,
    -2.2029347419410144,
    0.3824547948289579,
    2.5884092200303552,
    0.38003374766238557,
    -9.444370328142487e-06,
    9.28439370605952e-06,
    0.015643066188673255,
    0.032481392044598136,
    -0.006934245418580714,
    0.015203449898084415,
    0.010588839941634206,
    0.015172084704635566,
    0.0006966158494237525,
    -0.0008921152170037933,
    -0.0008778450028369142,
    0.09603028294909727,
    -0.06185081327963219,
    0.014896721256537257,
    0.3877813794549367,
    0.17389770370364438,
    0.0,
    0.4602881977674798
  ],
  "state_std": [
    0.3585160298619327,
    0.3878148223574307,
    0.1293083281750455,
    0.36543025846492205,
    0.2105331692132319,
    0.28367929792372526,
    0.3636307064290013,
    0.0016909741769947923,
    0.0016890056891868373,
    0.1575706174513793,
    0.18207654455933292,
    0.19677671662738158,
    0.13069376018822398,
    0.2776928911232905,
    0.13343992596501697,
    0.2157262656272226,
    0.014994482590711252,
    0.014990738243029907,
    0.11361850064268762,
    0.20814684430127264,
    0.0034672034929779287,
    0.2195181460618363,
    0.11401059065168137,
    1.0,
    0.30125486958866193
  ],
  "action_mean": [
    0.008274524389550493,
    0.0056526715477619146,
    -0.009986530860525257,
    0.0,
    0.0,
    0.0,
    -1.0
  ],
  "action_std": [
    0.03675839203111457,
    0.04978638960343727,
    0.0719065629449409,
    0.0001,
    0.0001,
    0.0001,
    0.0001
  ],
  "state_norm_policy": "continuous_only",
  "state_fields": [
    {
      "path": "obs/agent/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 9,
      "slice": [
        0,
        9
      ]
    },
    {
      "path": "obs/agent/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 9,
      "slice": [
        9,
        18
      ]
    },
    {
      "path": "obs/extra/ball_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        18,
        21
      ]
    },
    {
      "path": "obs/extra/distance_to_goal",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        21,
        22
      ]
    },
    {
      "path": "obs/extra/hand_object_distance",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        22,
        23
      ]
    },
    {
      "path": "obs/extra/is_success",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        23,
        24
      ]
    },
    {
      "path": "obs/extra/progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        24,
        25
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      21
    ],
    [
      21,
      22
    ],
    [
      22,
      23
    ],
    [
      24,
      25
    ]
  ],
  "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)."
}