{
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  "target_image_size": [
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  ],
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    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
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  "state_norm_policy": "continuous_only",
  "state_fields": [
    {
      "path": "obs/agent/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 26,
      "slice": [
        0,
        26
      ]
    },
    {
      "path": "obs/agent/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 26,
      "slice": [
        26,
        52
      ]
    },
    {
      "path": "obs/extra/marker_positions",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 6,
      "slice": [
        52,
        58
      ]
    },
    {
      "path": "obs/extra/object_positions",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 6,
      "slice": [
        58,
        64
      ]
    },
    {
      "path": "obs/extra/placement_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 2,
      "slice": [
        64,
        66
      ]
    },
    {
      "path": "obs/extra/robot_position",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        66,
        69
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      26
    ],
    [
      26,
      52
    ],
    [
      52,
      58
    ],
    [
      58,
      64
    ],
    [
      64,
      66
    ],
    [
      66,
      69
    ]
  ],
  "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)."
}