{
  "count": 4180,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
  ],
  "state_dim": 50,
  "action_dim": 22,
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    4.1451657566987e-06,
    5.248506220458067e-06,
    6.2965046294112035e-06,
    -1.0956147530445293e-07,
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    0.00010031100573909448,
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  "action_mean": [
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    -0.003245358047873209,
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  "action_std": [
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  ],
  "state_norm_policy": "continuous_only",
  "state_fields": [
    {
      "path": "obs/agent/qpos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 23,
      "slice": [
        0,
        23
      ]
    },
    {
      "path": "obs/agent/qvel",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 23,
      "slice": [
        23,
        46
      ]
    },
    {
      "path": "obs/extra/is_reoriented",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        46,
        47
      ]
    },
    {
      "path": "obs/extra/rotational_distance",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        47,
        48
      ]
    },
    {
      "path": "obs/extra/success_steps",
      "dtype": "int32",
      "kind": "discrete",
      "dim": 1,
      "slice": [
        48,
        49
      ]
    },
    {
      "path": "obs/extra/target_rotation_angle",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        49,
        50
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      23
    ],
    [
      23,
      46
    ],
    [
      47,
      48
    ],
    [
      49,
      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)."
}