{
  "count": 3444,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
  ],
  "state_dim": 30,
  "action_dim": 7,
  "state_mean": [
    0.030995558747354508,
    -0.11547659170018928,
    -0.0238580280688444,
    -2.4421912699626303,
    -0.0784715613423205,
    2.340520652017527,
    -0.8203013484377326,
    0.040111191959080306,
    0.04011595729439931,
    0.0027126646684555566,
    0.09590328666376172,
    -0.002647790465741896,
    0.02819358483167292,
    -0.008419593678735873,
    0.06899581328951236,
    -0.007796927783782388,
    -0.00021601516081614597,
    -0.00032084330774621595,
    0.049904065317873586,
    0.015617370694334092,
    0.06984866252136561,
    0.19789332418825953,
    0.20664744576683722,
    0.0015844157653558781,
    0.0,
    0.10000000149011612,
    0.0,
    0.3176511647947712,
    0.8949821789194068,
    0.027055262991429484
  ],
  "state_std": [
    0.3362551868235306,
    0.5776387694250233,
    0.3841232589886791,
    0.2971372010198297,
    0.31411290129625763,
    0.429206035511396,
    0.661606350513764,
    0.00025003040684852166,
    0.0002586084755392286,
    0.12437694131963416,
    0.1579072519707207,
    0.08840984422841021,
    0.14832241231772522,
    0.09104122138651843,
    0.15911278752419186,
    0.2198746870113559,
    0.0007216046056354268,
    0.0008392511853408726,
    0.12479346381127973,
    0.22422351742772917,
    0.007070443857517161,
    0.13248123984137689,
    0.09053005831073693,
    0.25196862545928306,
    0.0001,
    0.0001,
    1.0,
    0.40849182675486084,
    0.13982513691729984,
    0.4227574361319041
  ],
  "action_mean": [
    0.026996007920367236,
    -0.0006915246426916399,
    -0.03607683965909328,
    0.0,
    0.0,
    -0.0027718828701576437,
    1.0
  ],
  "action_std": [
    0.05168861174051524,
    0.07291888101933612,
    0.057324303961573904,
    0.0001,
    0.0001,
    0.0557523842600216,
    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/gate_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        22,
        25
      ]
    },
    {
      "path": "obs/extra/goal_half_width",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        25,
        26
      ]
    },
    {
      "path": "obs/extra/goal_scored",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        26,
        27
      ]
    },
    {
      "path": "obs/extra/progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        27,
        28
      ]
    },
    {
      "path": "obs/extra/push_dir",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 2,
      "slice": [
        28,
        30
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      21
    ],
    [
      21,
      22
    ],
    [
      22,
      25
    ],
    [
      25,
      26
    ],
    [
      27,
      28
    ],
    [
      28,
      30
    ]
  ],
  "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)."
}