{
  "count": 4653,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "right_camera",
    "robot_camera",
    "top_camera"
  ],
  "state_dim": 30,
  "action_dim": 7,
  "state_mean": [
    -0.008247166630954546,
    0.003673625042798478,
    -0.015497880515180454,
    -2.493059177309524,
    0.0073846824730758156,
    2.4777477069898186,
    0.7561030219331649,
    0.03004540167304583,
    0.030045427989063345,
    0.0011329998373762512,
    0.07075579587488617,
    -0.0011142555676771405,
    0.0047235378613143,
    0.00043890659809582447,
    0.0631740360350456,
    -0.0006248688042951051,
    0.00011438653123273703,
    0.00011713057531406345,
    0.11121100931782996,
    0.004883544554900767,
    0.01992770890604609,
    0.09146269929902931,
    -0.01915801957845116,
    0.05421641737009707,
    0.18968393439711487,
    0.0,
    0.22623387850819415,
    0.033945859851228534,
    -0.010936058741876597,
    0.2600853266848971
  ],
  "state_std": [
    0.11923685393997367,
    0.46976887494356817,
    0.0811096519612817,
    0.2924300837363581,
    0.048078628865190244,
    0.3232095332869794,
    0.21672197546074928,
    0.011882845005506987,
    0.011882714081097218,
    0.049257547046088694,
    0.15658702044083408,
    0.04251934756458924,
    0.15126339362695673,
    0.030854070263932356,
    0.14940091991286333,
    0.08100985931501904,
    0.025617143597680046,
    0.025616986012789653,
    0.0701861048105279,
    0.13322199376589736,
    0.002241726287302331,
    0.06309781888474802,
    0.1185984537701455,
    0.04701295470924765,
    0.11193629618396173,
    1.0,
    0.3682881528418369,
    0.09874711053563037,
    0.09635849013384293,
    0.11380830158013956
  ],
  "action_mean": [
    0.01611137713603934,
    0.0002908576555217242,
    -0.028195585290923978,
    0.0,
    0.0,
    0.0,
    0.195357833655706
  ],
  "action_std": [
    0.04014688019516001,
    0.04626474530518639,
    0.06467864619173368,
    0.0001,
    0.0001,
    0.0001,
    0.9807320362001793
  ],
  "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/block_a_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        18,
        21
      ]
    },
    {
      "path": "obs/extra/block_b_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        21,
        24
      ]
    },
    {
      "path": "obs/extra/distance_to_goal",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        24,
        25
      ]
    },
    {
      "path": "obs/extra/is_stacked",
      "dtype": "bool",
      "kind": "bool",
      "dim": 1,
      "slice": [
        25,
        26
      ]
    },
    {
      "path": "obs/extra/stacking_progress",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        26,
        27
      ]
    },
    {
      "path": "obs/extra/tcp_pos",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 3,
      "slice": [
        27,
        30
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      9
    ],
    [
      9,
      18
    ],
    [
      18,
      21
    ],
    [
      21,
      24
    ],
    [
      24,
      25
    ],
    [
      26,
      27
    ],
    [
      27,
      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)."
}