Modify unnorm_key in config.json, dataset_statistics.json
Browse files- config.json +42 -3042
- dataset_statistics.json +2 -2
config.json
CHANGED
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@@ -19,2883 +19,62 @@
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| 3060 |
-
"q01": [
|
| 3061 |
-
-0.9628571271896362,
|
| 3062 |
-
-1.0,
|
| 3063 |
-
-1.0,
|
| 3064 |
-
-0.26249998807907104,
|
| 3065 |
-
-0.21321429312229156,
|
| 3066 |
-
-0.3385714292526245,
|
| 3067 |
-
0.0
|
| 3068 |
-
],
|
| 3069 |
-
"q99": [
|
| 3070 |
-
0.9114285707473755,
|
| 3071 |
-
0.868571400642395,
|
| 3072 |
-
1.0,
|
| 3073 |
-
0.2817857265472412,
|
| 3074 |
-
0.2239285707473755,
|
| 3075 |
-
0.3557142913341522,
|
| 3076 |
-
1.0
|
| 3077 |
],
|
| 3078 |
-
"std": [
|
| 3079 |
-
0.39157867431640625,
|
| 3080 |
-
0.4076525568962097,
|
| 3081 |
-
0.40077948570251465,
|
| 3082 |
-
0.10023996233940125,
|
| 3083 |
-
0.0844319611787796,
|
| 3084 |
-
0.10375042259693146,
|
| 3085 |
-
0.44260647892951965
|
| 3086 |
-
]
|
| 3087 |
-
},
|
| 3088 |
-
"num_trajectories": 150,
|
| 3089 |
-
"num_transitions": 76324,
|
| 3090 |
-
"proprio": {
|
| 3091 |
"max": [
|
| 3092 |
0.0,
|
| 3093 |
0.0,
|
|
@@ -3097,15 +113,6 @@
|
|
| 3097 |
0.0,
|
| 3098 |
0.0
|
| 3099 |
],
|
| 3100 |
-
"mean": [
|
| 3101 |
-
0.0,
|
| 3102 |
-
0.0,
|
| 3103 |
-
0.0,
|
| 3104 |
-
0.0,
|
| 3105 |
-
0.0,
|
| 3106 |
-
0.0,
|
| 3107 |
-
0.0
|
| 3108 |
-
],
|
| 3109 |
"min": [
|
| 3110 |
0.0,
|
| 3111 |
0.0,
|
|
@@ -3132,17 +139,10 @@
|
|
| 3132 |
0.0,
|
| 3133 |
0.0,
|
| 3134 |
0.0
|
| 3135 |
-
],
|
| 3136 |
-
"std": [
|
| 3137 |
-
0.0,
|
| 3138 |
-
0.0,
|
| 3139 |
-
0.0,
|
| 3140 |
-
0.0,
|
| 3141 |
-
0.0,
|
| 3142 |
-
0.0,
|
| 3143 |
-
0.0
|
| 3144 |
]
|
| 3145 |
-
}
|
|
|
|
|
|
|
| 3146 |
}
|
| 3147 |
},
|
| 3148 |
"output_projector_states": false,
|
|
|
|
| 19 |
"model_type": "openvla",
|
| 20 |
"n_action_bins": 256,
|
| 21 |
"norm_stats": {
|
| 22 |
+
"libero_spatial": {
|
| 23 |
"action": {
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| 24 |
"mean": [
|
| 25 |
+
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|
| 26 |
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| 27 |
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| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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| 32 |
],
|
| 33 |
"std": [
|
| 34 |
+
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|
| 35 |
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| 36 |
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| 37 |
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| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
],
|
| 42 |
"max": [
|
| 43 |
+
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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| 48 |
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|
| 49 |
1.0
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| 50 |
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| 51 |
"min": [
|
| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
0.0
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| 59 |
],
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 65 |
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| 66 |
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| 67 |
0.0
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| 68 |
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| 69 |
"q99": [
|
| 70 |
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|
| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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|
| 76 |
1.0
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| 77 |
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|
| 78 |
"mask": [
|
| 79 |
true,
|
| 80 |
true,
|
|
|
|
| 83 |
true,
|
| 84 |
true,
|
| 85 |
false
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|
| 86 |
]
|
| 87 |
},
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|
| 88 |
"proprio": {
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|
| 89 |
"mean": [
|
| 90 |
0.0,
|
| 91 |
0.0,
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|
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|
| 95 |
0.0,
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
0.0,
|
| 100 |
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| 103 |
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|
| 104 |
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| 105 |
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|
| 106 |
],
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|
| 107 |
"max": [
|
| 108 |
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|
| 109 |
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|
| 113 |
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|
| 114 |
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| 115 |
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| 116 |
"min": [
|
| 117 |
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| 118 |
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| 139 |
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| 140 |
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| 141 |
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|
| 142 |
]
|
| 143 |
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},
|
| 144 |
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"num_transitions": 52970,
|
| 145 |
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|
| 146 |
}
|
| 147 |
},
|
| 148 |
"output_projector_states": false,
|
dataset_statistics.json
CHANGED
|
@@ -1,5 +1,5 @@
|
|
| 1 |
{
|
| 2 |
-
"
|
| 3 |
"action": {
|
| 4 |
"mean": [
|
| 5 |
0.15312479436397552,
|
|
@@ -124,4 +124,4 @@
|
|
| 124 |
"num_transitions": 52970,
|
| 125 |
"num_trajectories": 432
|
| 126 |
}
|
| 127 |
-
}
|
|
|
|
| 1 |
{
|
| 2 |
+
"libero_spatial": {
|
| 3 |
"action": {
|
| 4 |
"mean": [
|
| 5 |
0.15312479436397552,
|
|
|
|
| 124 |
"num_transitions": 52970,
|
| 125 |
"num_trajectories": 432
|
| 126 |
}
|
| 127 |
+
}
|