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| "state_norm_policy": "continuous_only", | |
| "state_fields": [ | |
| { | |
| "path": "obs/agent/mobile_panda_leaphand_left_urdf-0/qpos", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
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| 26 | |
| ] | |
| }, | |
| { | |
| "path": "obs/agent/mobile_panda_leaphand_left_urdf-0/qvel", | |
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| "slice": [ | |
| 26, | |
| 52 | |
| ] | |
| }, | |
| { | |
| "path": "obs/agent/mobile_panda_leaphand_urdf-1/qpos", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 26, | |
| "slice": [ | |
| 52, | |
| 78 | |
| ] | |
| }, | |
| { | |
| "path": "obs/agent/mobile_panda_leaphand_urdf-1/qvel", | |
| "dtype": "float32", | |
| "kind": "continuous", | |
| "dim": 26, | |
| "slice": [ | |
| 78, | |
| 104 | |
| ] | |
| } | |
| ], | |
| "state_norm_slices": [ | |
| [ | |
| 0, | |
| 26 | |
| ], | |
| [ | |
| 26, | |
| 52 | |
| ], | |
| [ | |
| 52, | |
| 78 | |
| ], | |
| [ | |
| 78, | |
| 104 | |
| ] | |
| ], | |
| "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)." | |
| } |