{
  "count": 23024,
  "target_image_size": [
    192,
    256
  ],
  "cameras": [
    "front_camera",
    "left_camera",
    "robot_camera",
    "top_camera"
  ],
  "state_dim": 49,
  "action_dim": 22,
  "state_mean": [
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    0.3961393983108085,
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    6.868907504609329e-07,
    -1.6316674965931484e-06,
    0.07102760509283122,
    0.3835388861990748,
    0.41925075352888747,
    0.4189295743416732,
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    0.006660228435454992,
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    0.004948818983338887,
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    0.0017228309518692087,
    0.0003059021772996197,
    0.0005786088842410493,
    0.0007255170813628508,
    0.00044647095418179735,
    0.00030642153171351867,
    3.91743051726016e-06,
    6.587968407093452e-06,
    0.0045599795596877515,
    0.0006037496236268479,
    0.0004151482411208279,
    0.0005403901733306292,
    0.007466328902394386,
    3.398324498631129e-05,
    0.00039348883725738685,
    0.0004511750516682338,
    0.005722792496822877,
    0.5222171161028166,
    0.5519457956914524,
    0.8385163307852674
  ],
  "state_std": [
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    0.21132673378200084,
    0.12970283153298423,
    0.24937800905482135,
    0.20236557463837992,
    0.2747590258381387,
    0.0968635361068574,
    0.3862755036115387,
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    0.4279584700281181,
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    0.44967336946608955,
    0.4913227825153712,
    0.49099284017497286,
    0.42563453233532317,
    0.4681342176921979,
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    0.5917342345537339,
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    0.07364982823671674,
    0.033122763451986725,
    0.07488097419713156,
    0.042872664224216483,
    0.05853405093305733,
    0.030104797309610472,
    0.08539790124151778,
    0.10210814682807715,
    0.10298391218475442,
    0.11598828266467494,
    0.0021486516400834915,
    0.00010772507063474254,
    0.00011455355551373947,
    0.03580070609920655,
    0.09243384497594592,
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    0.10240850307316102,
    0.10246796963834155,
    0.13499080851275438,
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  "action_mean": [
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    0.0007326469028187295,
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    0.0,
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    0.0,
    5.0629518991793774e-05,
    0.028324254014493965,
    0.012859194098219819,
    0.006920205998995312,
    -6.991522843957411e-07,
    0.0006508206256311061,
    0.0005020730320621009,
    0.00048607910716089983,
    -9.472393859999941e-08,
    0.0007294342708080595,
    0.0005995294321085381,
    0.0005291773995765195,
    0.010337069607500148,
    -0.0239977850694166,
    0.06620173246739273,
    0.023360784292525152
  ],
  "action_std": [
    0.01168228490246515,
    0.0673252817186465,
    0.03519900340773371,
    0.0001,
    0.0001,
    0.0001,
    0.0017366262362685124,
    0.12520070617269918,
    0.12357497437399242,
    0.12910781322430329,
    0.00010006906533983449,
    0.13403564838470367,
    0.1342814058719421,
    0.1342761466347924,
    0.000100097005542428,
    0.1344095256384123,
    0.13434955303168836,
    0.134307218006825,
    0.15077733232633556,
    0.03440368632731668,
    0.18389551432503165,
    0.17967513488471826
  ],
  "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/coverage",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        46,
        47
      ]
    },
    {
      "path": "obs/extra/hand_clear",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        47,
        48
      ]
    },
    {
      "path": "obs/extra/stable",
      "dtype": "float32",
      "kind": "continuous",
      "dim": 1,
      "slice": [
        48,
        49
      ]
    }
  ],
  "state_norm_slices": [
    [
      0,
      23
    ],
    [
      23,
      46
    ],
    [
      46,
      47
    ],
    [
      47,
      48
    ],
    [
      48,
      49
    ]
  ],
  "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)."
}