CogACT-v2-RoboDojo / norm_config.json
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[
{
"use_action_norm": true,
"use_state_norm": true,
"norm_type": "gaussian",
"unnorm_key": "robodojo_camera_space_ref_head_6d_abs_abs_stride_1_num_steps_30_interpolation",
"statistics_dict": {
"robodojo_camera_space_ref_head_6d_abs_abs_stride_1_num_steps_30_interpolation": {
"state": {
"mean": {
"ROBOT_LEFT_TRANS": [
-0.23276467621326447,
0.03926301375031471,
0.3815557658672333
],
"ROBOT_LEFT_ROT_6D": [
0.12185066193342209,
0.8142456412315369,
0.12061137706041336,
-0.5974507331848145,
0.14377731084823608,
-0.3133965730667114
],
"ROBOT_RIGHT_TRANS": [
0.24575446546077728,
0.05313309282064438,
0.3772231638431549
],
"ROBOT_RIGHT_ROT_6D": [
-0.08517834544181824,
0.8556382656097412,
-0.10383229702711105,
-0.5988039970397949,
-0.11237773299217224,
-0.3635596036911011
]
},
"std": {
"ROBOT_LEFT_TRANS": [
0.11020703613758087,
0.10544796288013458,
0.051956914365291595
],
"ROBOT_LEFT_ROT_6D": [
0.3487299680709839,
0.3431629538536072,
0.26124870777130127,
0.2569718062877655,
0.3526705801486969,
0.5777003169059753
],
"ROBOT_RIGHT_TRANS": [
0.09782838076353073,
0.1035986915230751,
0.04970450699329376
],
"ROBOT_RIGHT_ROT_6D": [
0.3141445219516754,
0.30556175112724304,
0.2404070794582367,
0.24038273096084595,
0.3238118290901184,
0.5779281258583069
]
}
},
"action": {
"mean": {
"ROBOT_LEFT_TRANS": [
-0.2320488840341568,
0.039685606956481934,
0.38134101033210754
],
"ROBOT_LEFT_ROT_6D": [
0.11907698214054108,
0.8146829605102539,
0.12148554623126984,
-0.5962557196617126,
0.14183281362056732,
-0.31801968812942505
],
"ROBOT_RIGHT_TRANS": [
0.24540719389915466,
0.05302022397518158,
0.37697815895080566
],
"ROBOT_RIGHT_ROT_6D": [
-0.0869886726140976,
0.8551560044288635,
-0.10664575546979904,
-0.6006272435188293,
-0.11563403904438019,
-0.3621114492416382
]
},
"std": {
"ROBOT_LEFT_TRANS": [
0.11011764407157898,
0.10523510724306107,
0.052203454077243805
],
"ROBOT_LEFT_ROT_6D": [
0.34839338064193726,
0.342747300863266,
0.2617248296737671,
0.2554849684238434,
0.35237258672714233,
0.5777430534362793
],
"ROBOT_RIGHT_TRANS": [
0.09806261956691742,
0.1031850054860115,
0.04984130337834358
],
"ROBOT_RIGHT_ROT_6D": [
0.3133242428302765,
0.30492258071899414,
0.24211184680461884,
0.23917348682880402,
0.32351747155189514,
0.5769604444503784
]
}
}
}
}
}
]