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gym/Humanoid-medium-v3/normalization.npz

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gym/Humanoid-medium-v3/train.npz

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gym/ant-medium-expert-v2/normalization.npz

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gym/ant-medium-expert-v2/train.npz

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gym/hopper-medium-v2/normalization.npz

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gym/hopper-medium-v2/normalization_old_17dim.npz

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gym/hopper-medium-v2/train.npz

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gym/hopper-medium-v2/train_old_17dim.npz

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gym/hopper-medium-v2_new/_2025_12_09_12_23_54.log

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+2025-12-09 12:23:56,570 - get_D4RL_dataset - INFO - 
+========== Basic Info ===========
+2025-12-09 12:23:56,571 - get_D4RL_dataset - INFO - Keys in the dataset: dict_keys(['actions', 'infos/action_log_probs', 'infos/qpos', 'infos/qvel', 'metadata/algorithm', 'metadata/iteration', 'metadata/policy/fc0/bias', 'metadata/policy/fc0/weight', 'metadata/policy/fc1/bias', 'metadata/policy/fc1/weight', 'metadata/policy/last_fc/bias', 'metadata/policy/last_fc/weight', 'metadata/policy/last_fc_log_std/bias', 'metadata/policy/last_fc_log_std/weight', 'metadata/policy/nonlinearity', 'metadata/policy/output_distribution', 'next_observations', 'rewards', 'terminals', 'timeouts', 'states'])
+2025-12-09 12:23:56,571 - get_D4RL_dataset - INFO - State shape: (1000000, 11)
+2025-12-09 12:23:56,571 - get_D4RL_dataset - INFO - Action shape: (1000000, 3)
+2025-12-09 12:23:56,760 - get_D4RL_dataset - INFO - Total transitions: 999906
+2025-12-09 12:23:56,760 - get_D4RL_dataset - INFO - Total trajectories: 2186
+2025-12-09 12:23:56,761 - get_D4RL_dataset - INFO - Trajectory length mean/std: 457.4135407136322, 110.88357221430905
+2025-12-09 12:23:56,761 - get_D4RL_dataset - INFO - Trajectory length min/max: 145, 1000
+2025-12-09 12:23:56,762 - get_D4RL_dataset - INFO - obs min: [  0.70000756  -0.19498888  -1.4930675   -1.4813906   -0.96395123
+  -0.503773    -5.1892323   -3.20404     -6.4856668  -10.
+ -10.        ], obs max: [ 1.729025    0.1552431   0.01719327  0.07019253  0.95734406  5.017929
+  3.1744173   3.8315835   5.686337    9.226352   10.        ]
+2025-12-09 12:23:56,763 - get_D4RL_dataset - INFO - action min: [-0.9999679  -0.9999835  -0.99996823], action max: [0.9998843 0.9999483 0.9999945]
+2025-12-09 12:24:01,032 - get_D4RL_dataset - INFO - 
+========== Final ===========
+2025-12-09 12:24:01,033 - get_D4RL_dataset - INFO - Train - Trajectories: 2186, Transitions: 999906
+2025-12-09 12:24:01,033 - get_D4RL_dataset - INFO - Val - Trajectories: 0, Transitions: 0.0
+2025-12-09 12:24:01,033 - get_D4RL_dataset - INFO - Train - Mean/Std trajectory length: 457.4135407136322, 110.88357221430905

gym/hopper-medium-v2_new/normalization.npz

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gym/hopper-medium-v2_new/train.npz

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gym/hopper-medium-v2_new/val.npz

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gym/kitchen-complete-v0/_2024_10_19_23_27_40.log

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+2024-10-19 23:27:41,663 - get_D4RL_dataset - INFO - 
+========== Basic Info ===========
+2024-10-19 23:27:41,663 - get_D4RL_dataset - INFO - Keys in the dataset: dict_keys(['actions', 'infos', 'rewards', 'terminals', 'timeouts', 'states'])
+2024-10-19 23:27:41,663 - get_D4RL_dataset - INFO - State shape: (3680, 60)
+2024-10-19 23:27:41,669 - get_D4RL_dataset - INFO - Action shape: (3680, 9)
+2024-10-19 23:27:41,670 - get_D4RL_dataset - INFO - Total transitions: 3680
+2024-10-19 23:27:41,675 - get_D4RL_dataset - INFO - Total trajectories: 19
+2024-10-19 23:27:41,675 - get_D4RL_dataset - INFO - Trajectory length mean/std: 193.68421052631578, 7.5953769289299125
+2024-10-19 23:27:41,688 - get_D4RL_dataset - INFO - Trajectory length min/max: 182, 207
+2024-10-19 23:27:41,702 - get_D4RL_dataset - INFO - obs min: [-2.6213758e+00 -1.7765014e+00  7.3117727e-01 -2.6502264e+00
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+2024-10-19 23:27:41,716 - get_D4RL_dataset - INFO - action min: [-0.999      -0.3916937  -0.999      -0.999      -0.999      -0.999
+ -0.999      -0.31348142 -0.2928482 ], action max: [0.999      0.8654941  0.28464952 0.999      0.999      0.999
+ 0.999      0.17997283 0.25872925]
+2024-10-19 23:27:41,969 - get_D4RL_dataset - INFO - 
+========== Final ===========
+2024-10-19 23:27:41,969 - get_D4RL_dataset - INFO - Train - Trajectories: 19, Transitions: 3680
+2024-10-19 23:27:41,978 - get_D4RL_dataset - INFO - Val - Trajectories: 0, Transitions: 0.0
+2024-10-19 23:27:41,978 - get_D4RL_dataset - INFO - Train - Mean/Std trajectory length: 193.68421052631578, 7.5953769289299125

gym/kitchen-complete-v0/normalization.npz

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gym/kitchen-complete-v0/train.npz

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gym/kitchen-complete-v0/val.npz

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gym/kitchen-mixed-v0/_2024_10_21_11_47_06.log

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+2024-10-21 11:47:08,925 - get_D4RL_dataset - INFO - 
+========== Basic Info ===========
+2024-10-21 11:47:08,926 - get_D4RL_dataset - INFO - Keys in the dataset: dict_keys(['actions', 'infos', 'rewards', 'terminals', 'timeouts', 'states'])
+2024-10-21 11:47:08,926 - get_D4RL_dataset - INFO - State shape: (136950, 60)
+2024-10-21 11:47:08,926 - get_D4RL_dataset - INFO - Action shape: (136950, 9)
+2024-10-21 11:47:08,946 - get_D4RL_dataset - INFO - Total transitions: 136950
+2024-10-21 11:47:08,946 - get_D4RL_dataset - INFO - Total trajectories: 613
+2024-10-21 11:47:08,946 - get_D4RL_dataset - INFO - Trajectory length mean/std: 223.4094616639478, 31.989604375918944
+2024-10-21 11:47:08,946 - get_D4RL_dataset - INFO - Trajectory length min/max: 8, 280
+2024-10-21 11:47:08,947 - get_D4RL_dataset - INFO - obs min: [-2.8562341e+00 -1.7780266e+00  1.0558846e-01 -2.9410243e+00
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+2024-10-21 11:47:08,947 - get_D4RL_dataset - INFO - action min: [-0.999     -0.999     -0.999     -0.999     -0.999     -0.999
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+2024-10-21 11:47:08,982 - get_D4RL_dataset - INFO - Skipping trajectory 418 due to zero rewards.
+2024-10-21 11:47:10,020 - get_D4RL_dataset - INFO - 
+========== Final ===========
+2024-10-21 11:47:10,020 - get_D4RL_dataset - INFO - Train - Trajectories: 612, Transitions: 136931
+2024-10-21 11:47:10,020 - get_D4RL_dataset - INFO - Val - Trajectories: 0, Transitions: 0.0
+2024-10-21 11:47:10,021 - get_D4RL_dataset - INFO - Train - Mean/Std trajectory length: 223.74346405228758, 30.929308071863865

gym/kitchen-mixed-v0/normalization.npz

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gym/kitchen-mixed-v0/val.npz

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gym/kitchen-partial-v0/_2024_10_21_11_45_50.log

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+2024-10-21 11:45:52,104 - get_D4RL_dataset - INFO - 
+========== Basic Info ===========
+2024-10-21 11:45:52,104 - get_D4RL_dataset - INFO - Keys in the dataset: dict_keys(['actions', 'infos', 'rewards', 'terminals', 'timeouts', 'states'])
+2024-10-21 11:45:52,104 - get_D4RL_dataset - INFO - State shape: (136950, 60)
+2024-10-21 11:45:52,104 - get_D4RL_dataset - INFO - Action shape: (136950, 9)
+2024-10-21 11:45:52,126 - get_D4RL_dataset - INFO - Total transitions: 136950
+2024-10-21 11:45:52,126 - get_D4RL_dataset - INFO - Total trajectories: 613
+2024-10-21 11:45:52,126 - get_D4RL_dataset - INFO - Trajectory length mean/std: 223.4094616639478, 31.989604375918944
+2024-10-21 11:45:52,126 - get_D4RL_dataset - INFO - Trajectory length min/max: 8, 280
+2024-10-21 11:45:52,127 - get_D4RL_dataset - INFO - obs min: [-2.8562341e+00 -1.7780266e+00  1.0558846e-01 -2.9410243e+00
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+2024-10-21 11:45:53,177 - get_D4RL_dataset - INFO - 
+========== Final ===========
+2024-10-21 11:45:53,178 - get_D4RL_dataset - INFO - Train - Trajectories: 613, Transitions: 136950
+2024-10-21 11:45:53,178 - get_D4RL_dataset - INFO - Val - Trajectories: 0, Transitions: 0.0
+2024-10-21 11:45:53,178 - get_D4RL_dataset - INFO - Train - Mean/Std trajectory length: 223.4094616639478, 31.989604375918944

gym/kitchen-partial-v0/normalization.npz

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gym/kitchen-partial-v0/val.npz

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gym/walker2d-medium-v2/normalization.npz

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gym/walker2d-medium-v2/train.npz

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+size 86163981

robomimic/can-img/_2024_07_28_22_55_38.log

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+Using robot0_eef_pos with dim 3 for observation
+Using robot0_eef_quat with dim 4 for observation
+Using robot0_gripper_qpos with dim 2 for observation
+Total low-dim observation dim: 9
+Action dim: 7
+===== Basic stats =====
+total transitions: 62756
+total trajectories: 300
+traj length mean/std: 209.18666666666667, 114.42181532479817
+traj length min/max: 98, 1050
+obs min: [-0.25143228 -0.48290854  0.          0.         -0.61829231 -0.17107207
+ -0.34598595  0.         -0.04190514]
+obs max: [3.70179849e-01 4.79867089e-01 1.19667719e+00 9.99998906e-01
+ 6.91784944e-01 4.57595202e-01 1.71430499e-01 4.34889741e-02
+ 7.08948487e-05]
+action min: [-1.         -1.         -1.         -0.5288763  -1.         -0.92734307
+ -1.        ]
+action max: [1.         1.         1.         0.62915826 1.         0.42358947
+ 1.        ]
+Image shapes: [(96, 96, 3)]
+
+========== Final ===========
+Train - Number of episodes and transitions: 300, 62756
+Val - Number of episodes and transitions: 0, 0.0
+Train - Mean/Std trajectory length: 209.18666666666667, 114.42181532479817
+Train - Max/Min trajectory length: 1050, 98
+Train - Mean/Std episode reward: 5.026666666666666,  0.16110727964792765
+Train - Obs dim 1 mean 0.019601674636968047 std 0.12592900832482454 min -1.0 max 0.9999967825647542
+Train - Obs dim 2 mean -0.030272980497921525 std 0.22357894069812015 min -1.0 max 0.99999792267496
+Train - Obs dim 3 mean 0.1211466327331104 std 0.24745317323638566 min 0.0 max 0.9999983287069074
+Train - Obs dim 4 mean 0.18958558273164555 std 0.3816765249842389 min 0.0 max 0.9999979999998121
+Train - Obs dim 5 mean -0.015883791377713063 std 0.137098729040321 min -1.0 max 0.9999984733736411
+Train - Obs dim 6 mean -0.07293318421081668 std 0.17351171013695676 min -1.0 max 0.9999968186719856
+Train - Obs dim 7 mean 0.05846516585218933 std 0.14551450190128346 min -1.0 max 0.9999961346490798
+Train - Obs dim 8 mean 0.0949346008161991 std 0.257451119633263 min -0.9855188111923036 max 0.999954012389279
+Train - Obs dim 9 mean -0.10411067954984783 std 0.27858701103340766 min -1.0 max 0.9999523548967768
+Train - Action dim 1 mean 0.0191666082643149 std 0.12093341761359697 min -1.0 max 0.9999990000004999
+Train - Action dim 2 mean 0.033036921964078696 std 0.2183804433881315 min -1.0 max 0.9999990000004999
+Train - Action dim 3 mean 0.0006050143705086731 std 0.13088426105882806 min -1.0 max 0.9999990000004999
+Train - Action dim 4 mean -0.015735678997492945 std 0.042017775262129985 min -1.0 max 0.9999982729373229
+Train - Action dim 5 mean 0.0025595743050817457 std 0.025622699644502728 min -1.0 max 0.9999990000004999
+Train - Action dim 6 mean 0.0655383375027489 std 0.14479954348772067 min -1.0 max 0.99999851954227
+Train - Action dim 7 mean -0.03309214655868863 std 0.445118119748419 min -1.0 max 0.9999990000004999

robomimic/can-img/normalization.npz

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robomimic/can-img/train.npz

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robomimic/can/normalization.npz

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robomimic/can/train.npz

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robomimic/lift-img/_2024_07_28_22_44_32.log

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+Using robot0_eef_pos with dim 3 for observation
+Using robot0_eef_quat with dim 4 for observation
+Using robot0_gripper_qpos with dim 2 for observation
+Total low-dim observation dim: 9
+Action dim: 7
+===== Basic stats =====
+total transitions: 31127
+total trajectories: 300
+traj length mean/std: 103.75666666666666, 44.31843997956406
+traj length min/max: 41, 313
+obs min: [-0.227238   -0.08402276  0.          0.         -0.33597003 -0.19596296
+ -0.12183707  0.         -0.04070069]
+obs max: [0.31409784 0.21161301 1.04755823 0.99999876 0.47957659 0.37276779
+ 0.06705896 0.04124887 0.        ]
+action min: [-1.         -1.         -1.         -0.13799655 -1.         -0.6103344
+ -1.        ]
+action max: [1.         1.         1.         0.14114816 1.         0.6874066
+ 1.        ]
+Image shapes: [(96, 96, 3)]
+
+========== Final ===========
+Train - Number of episodes and transitions: 300, 31127
+Val - Number of episodes and transitions: 0, 0.0
+Train - Mean/Std trajectory length: 103.75666666666666, 44.31843997956406
+Train - Max/Min trajectory length: 313, 41
+Train - Mean/Std episode reward: 5.04,  0.19595917942265426
+Train - Obs dim 1 mean -0.07802061850757913 std 0.1495451547902029 min -1.0 max 0.9999963054426373
+Train - Obs dim 2 mean -0.14216409660553314 std 0.2154578499664381 min -1.0 max 0.999993234941565
+Train - Obs dim 3 mean 0.23745919869028093 std 0.34507274279461364 min 0.0 max 0.9999980908000814
+Train - Obs dim 4 mean 0.32267758564391613 std 0.4587374410070832 min 0.0 max 0.9999979999995221
+Train - Obs dim 5 mean -0.04647307888873843 std 0.21639483839721288 min -1.0 max 0.999997547660048
+Train - Obs dim 6 mean -0.05325147733037345 std 0.12173298552126822 min -1.0 max 0.999996483403627
+Train - Obs dim 7 mean 0.097418534909797 std 0.19408848732439657 min -1.0 max 0.9999894122213733
+Train - Obs dim 8 mean 0.2368136974734481 std 0.40169107617646466 min -0.9796265635044815 max 0.9999515150034488
+Train - Obs dim 9 mean -0.24491415863248392 std 0.41270388689712467 min -1.0 max 0.9749520904436988
+Train - Action dim 1 mean 0.02466961957679828 std 0.12923461097498107 min -1.0 max 0.9999990000004999
+Train - Action dim 2 mean 0.0010188539793908747 std 0.07518607965274834 min -1.0 max 0.9999990000004999
+Train - Action dim 3 mean -0.027876371189609953 std 0.17262221847127185 min -1.0 max 0.9999990000004999
+Train - Action dim 4 mean -0.005353489821003648 std 0.08007417362008627 min -1.0 max 0.9999928352832872
+Train - Action dim 5 mean 0.0012666057413807468 std 0.034020950899264366 min -1.0 max 0.9999990000004999
+Train - Action dim 6 mean -0.01772752882270596 std 0.053712939818671306 min -1.0 max 0.999998458861618
+Train - Action dim 7 mean -0.1900000707454385 std 0.5434986471397592 min -1.0 max 0.9999990000004999

robomimic/lift-img/normalization.npz

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robomimic/lift-img/train.npz

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robomimic/lift/_2024_05_26_01_51_24.log

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+Using robot0_eef_pos with dim 3 for observation
+Using robot0_eef_quat with dim 4 for observation
+Using robot0_gripper_qpos with dim 2 for observation
+Using object with dim 10 for observation
+Total low-dim observation dim: 19
+Action dim: 7
+===== Basic stats =====
+total transitions: 31127
+total trajectories: 300
+traj length mean/std: 103.75666666666666, 44.31843997956406
+traj length min/max: 41, 313
+obs min: [-0.227238   -0.08402276  0.          0.         -0.33597003 -0.19596296
+ -0.12183707  0.         -0.04070069 -0.08627735 -0.0539797   0.
+ -0.69946984 -0.63434399 -0.00263554 -0.99999601 -0.25395238 -0.09064378
+ -0.01525915]
+obs max: [0.31409784 0.21161301 1.04755823 0.99999876 0.47957659 0.37276779
+ 0.06705896 0.04124887 0.         0.07217548 0.05754506 0.88793154
+ 0.71435988 0.7210141  0.99999915 0.9999539  0.29122359 0.19048547
+ 0.2247259 ]
+action min: [-1.         -1.         -1.         -0.13799655 -1.         -0.6103344
+ -1.        ]
+action max: [1.         1.         1.         0.14114816 1.         0.6874066
+ 1.        ]
+
+========== Final ===========
+Train - Number of episodes and transitions: 300, 31127
+Val - Number of episodes and transitions: 0, 0.0
+Train - Mean/Std trajectory length: 103.75666666666666, 44.31843997956406
+Train - Max/Min trajectory length: 313, 41
+Train - Mean/Std episode reward: 5.04,  0.19595917942265426
+Train - Obs dim 1 mean -0.07802061850757917 std 0.1495451547902029 min -1.0 max 0.9999963054426373
+Train - Obs dim 2 mean -0.14216409660553306 std 0.21545784996643802 min -1.0 max 0.999993234941565
+Train - Obs dim 3 mean 0.23745919869028087 std 0.34507274279461364 min 0.0 max 0.9999980908000814
+Train - Obs dim 4 mean 0.32267758564391624 std 0.4587374410070833 min 0.0 max 0.9999979999995221
+Train - Obs dim 5 mean -0.046473078888738424 std 0.21639483839721285 min -1.0 max 0.999997547660048
+Train - Obs dim 6 mean -0.05325147733037335 std 0.12173298552126814 min -1.0 max 0.999996483403627
+Train - Obs dim 7 mean 0.09741853490979653 std 0.1940884873243962 min -1.0 max 0.9999894122213733
+Train - Obs dim 8 mean 0.2368136974734481 std 0.40169107617646466 min -0.9796265635044815 max 0.9999515150034488
+Train - Obs dim 9 mean -0.24491415863248392 std 0.41270388689712467 min -1.0 max 0.9749520904436988
+Train - Obs dim 10 mean 0.04221021415251255 std 0.14915715953867 min -1.0 max 0.9999873780270743
+Train - Obs dim 11 mean -0.013328412951968906 std 0.18557776218894712 min -1.0 max 0.9999820669244539
+Train - Obs dim 12 mean 0.2828029863652602 std 0.4017334930503604 min 0.0 max 0.9999977475766304
+Train - Obs dim 13 mean -0.002783658610188613 std 0.05539007909880462 min -1.0 max 0.9999985854034907
+Train - Obs dim 14 mean -0.019674003816245542 std 0.05299720943616405 min -1.0 max 0.9999985243762988
+Train - Obs dim 15 mean 0.09415260047979923 std 0.37175650947774797 min -1.0 max 0.9999980052575141
+Train - Obs dim 16 mean 0.00799175954500467 std 0.40311430855838 min -1.0 max 0.9999989999754573
+Train - Obs dim 17 mean -0.05101336977894871 std 0.12049258251182182 min -1.0 max 0.9999963314664779
+Train - Obs dim 18 mean -0.11569830292785108 std 0.17494907161137693 min -1.0 max 0.9999928858598532
+Train - Obs dim 19 mean -0.07866814126469175 std 0.3457543152755461 min -1.0 max 0.9999916661825143
+Train - Action dim 1 mean 0.02466961957679828 std 0.12923461097498107 min -1.0 max 0.9999990000004999
+Train - Action dim 2 mean 0.0010188539793908747 std 0.07518607965274834 min -1.0 max 0.9999990000004999
+Train - Action dim 3 mean -0.027876371189609953 std 0.17262221847127185 min -1.0 max 0.9999990000004999
+Train - Action dim 4 mean -0.005353489821003648 std 0.08007417362008627 min -1.0 max 0.9999928352832872
+Train - Action dim 5 mean 0.0012666057413807468 std 0.034020950899264366 min -1.0 max 0.9999990000004999
+Train - Action dim 6 mean -0.01772752882270596 std 0.053712939818671306 min -1.0 max 0.999998458861618
+Train - Action dim 7 mean -0.1900000707454385 std 0.5434986471397592 min -1.0 max 0.9999990000004999

robomimic/lift/normalization.npz

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+size 1434

robomimic/lift/train.npz

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+version https://git-lfs.github.com/spec/v1
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+size 4427041

robomimic/square-img/_2024_07_28_22_48_55.log

@@ -0,0 +1,43 @@
+Using robot0_eef_pos with dim 3 for observation
+Using robot0_eef_quat with dim 4 for observation
+Using robot0_gripper_qpos with dim 2 for observation
+Total low-dim observation dim: 9
+Action dim: 7
+===== Basic stats =====
+total transitions: 80731
+total trajectories: 300
+traj length mean/std: 269.10333333333335, 123.21585120790624
+traj length min/max: 123, 1051
+obs min: [-3.26264625e-01 -1.62671727e-01  0.00000000e+00  0.00000000e+00
+ -9.04705476e-01 -1.22305499e-01 -2.87990118e-01 -3.48446265e-04
+ -4.91901745e-02]
+obs max: [0.31836494 0.360278   1.36639441 0.99999935 0.85060488 0.50034479
+ 0.13586072 0.04177344 0.0019975 ]
+action min: [-1.         -1.         -1.         -0.44833228 -1.         -1.
+ -1.        ]
+action max: [1.         1.         1.         0.20898621 1.         1.
+ 1.        ]
+Image shapes: [(96, 96, 3)]
+
+========== Final ===========
+Train - Number of episodes and transitions: 300, 80731
+Val - Number of episodes and transitions: 0, 0.0
+Train - Mean/Std trajectory length: 269.10333333333335, 123.21585120790624
+Train - Max/Min trajectory length: 1051, 123
+Train - Mean/Std episode reward: 5.036666666666667,  0.18794207145347266
+Train - Obs dim 1 mean 0.014108648977759625 std 0.23744747027078736 min -1.0 max 0.9999968974477831
+Train - Obs dim 2 mean 0.017794446161820725 std 0.13429545862303632 min -1.0 max 0.9999961755478983
+Train - Obs dim 3 mean 0.0922426901585151 std 0.16448797744720906 min 0.0 max 0.9999985362948538
+Train - Obs dim 4 mean 0.21628856315362982 std 0.3829559806423217 min -0.19013031297741756 max 0.9999980000006969
+Train - Obs dim 5 mean 0.013114441950858053 std 0.21022078723093746 min -1.0 max 0.9999988606010042
+Train - Obs dim 6 mean -0.11502775899379711 std 0.21653592024846952 min -1.0 max 0.9999967879292364
+Train - Obs dim 7 mean 0.08000244596662096 std 0.16110740362548853 min -1.0 max 0.9999952813700024
+Train - Obs dim 8 mean 0.07734247501961632 std 0.3222264425910281 min -1.0 max 0.9999525198763823
+Train - Obs dim 9 mean -0.031440438175175396 std 0.24965053980426447 min -1.0 max 0.9999609288566065
+Train - Action dim 1 mean 0.024737544353397162 std 0.14884351576978036 min -1.0 max 0.9999990000004999
+Train - Action dim 2 mean 0.0072442578256985335 std 0.11751811680991711 min -1.0 max 0.9999990000004999
+Train - Action dim 3 mean -0.009443158505506078 std 0.13478169419780953 min -1.0 max 0.9999990000004999
+Train - Action dim 4 mean 0.09377281622670909 std 0.1655878669964125 min -1.0 max 0.9999969573395628
+Train - Action dim 5 mean 0.0005484708632519405 std 0.028443994071011072 min -1.0 max 0.9999990000004999
+Train - Action dim 6 mean 0.0011374524260853126 std 0.05378051333959685 min -1.0 max 0.9999990000004999
+Train - Action dim 7 mean -0.004538660482017692 std 0.5059883254858543 min -1.0 max 0.9999990000004999

robomimic/square-img/normalization.npz

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+oid sha256:15eb8c018169a73dfaa8d108cbc692535215c65ed79a33bda29a3ca3ce25be62
+size 1274

robomimic/square-img/train.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7c101e5ffcb1e094b3b2b44f088c92391119a9e9438395b632b3391bd474e400
+size 85611847

robomimic/square/_2024_05_26_01_51_36.log

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+Using robot0_eef_pos with dim 3 for observation
+Using robot0_eef_quat with dim 4 for observation
+Using robot0_gripper_qpos with dim 2 for observation
+Using object with dim 14 for observation
+Total low-dim observation dim: 23
+Action dim: 7
+===== Basic stats =====
+total transitions: 80731
+total trajectories: 300
+traj length mean/std: 269.10333333333335, 123.21585120790624
+traj length min/max: 123, 1051
+obs min: [-3.26264625e-01 -1.62671727e-01  0.00000000e+00  0.00000000e+00
+ -9.04705476e-01 -1.22305499e-01 -2.87990118e-01 -3.48446265e-04
+ -4.91901745e-02 -2.88686366e-01 -5.34496241e-02  0.00000000e+00
+ -5.06338215e-01 -5.22761920e-01 -7.28617727e-01 -9.99997558e-01
+ -1.63252414e-01 -3.57129989e-01 -1.08106871e-01 -9.99991834e-01
+ -9.99999523e-01 -5.20801425e-01  0.00000000e+00]
+obs max: [0.31836494 0.360278   1.36639441 0.99999935 0.85060488 0.50034479
+ 0.13586072 0.04177344 0.0019975  0.29996479 0.30764405 1.11203954
+ 0.64154186 0.49256304 0.99999687 0.99992923 0.25271135 0.19679319
+ 0.43350386 0.9999904  0.99999976 0.58587408 0.75748754]
+action min: [-1.         -1.         -1.         -0.44833228 -1.         -1.
+ -1.        ]
+action max: [1.         1.         1.         0.20898621 1.         1.
+ 1.        ]
+
+========== Final ===========
+Train - Number of episodes and transitions: 300, 80731
+Val - Number of episodes and transitions: 0, 0.0
+Train - Mean/Std trajectory length: 269.10333333333335, 123.21585120790624
+Train - Max/Min trajectory length: 1051, 123
+Train - Mean/Std episode reward: 5.036666666666667,  0.18794207145347266
+Train - Obs dim 1 mean 0.014108648977759668 std 0.23744747027078744 min -1.0 max 0.9999968974477831
+Train - Obs dim 2 mean 0.017794446161820764 std 0.13429545862303638 min -1.0 max 0.9999961755478983
+Train - Obs dim 3 mean 0.09224269015851502 std 0.16448797744720894 min 0.0 max 0.9999985362948538
+Train - Obs dim 4 mean 0.21628856315362988 std 0.38295598064232167 min -0.19013031297741767 max 0.9999980000006967
+Train - Obs dim 5 mean 0.01311444195085805 std 0.2102207872309374 min -1.0 max 0.9999988606010042
+Train - Obs dim 6 mean -0.1150277589937971 std 0.2165359202484695 min -1.0 max 0.9999967879292364
+Train - Obs dim 7 mean 0.0800024459666212 std 0.16110740362548884 min -1.0 max 0.9999952813700024
+Train - Obs dim 8 mean 0.07734247501961632 std 0.3222264425910281 min -1.0 max 0.9999525198763823
+Train - Obs dim 9 mean -0.031440438175175396 std 0.24965053980426447 min -1.0 max 0.9999609288566065
+Train - Obs dim 10 mean 0.015267976792676254 std 0.27051342023098296 min -1.0 max 0.9999966024077758
+Train - Obs dim 11 mean 0.015422753564711504 std 0.12581608415345905 min -1.0 max 0.999994461286388
+Train - Obs dim 12 mean 0.1551041895755809 std 0.2719134590665128 min 0.0 max 0.9999982015044246
+Train - Obs dim 13 mean -0.03175834454874344 std 0.08131130538479579 min -1.0 max 0.9999982576592266
+Train - Obs dim 14 mean 0.006394919990466625 std 0.059320487914981894 min -1.0 max 0.9999980301892473
+Train - Obs dim 15 mean 0.15425974118471653 std 0.33300533225110795 min -1.0 max 0.9999988430047682
+Train - Obs dim 16 mean -0.0012008707495527596 std 0.33532827954757327 min -1.0 max 0.999998999963895
+Train - Obs dim 17 mean -0.04869210368839549 std 0.15888937327836827 min -1.0 max 0.9999951919004002
+Train - Obs dim 18 mean 0.05376572405691878 std 0.12692037181309024 min -1.0 max 0.9999963893975448
+Train - Obs dim 19 mean -0.11898207475091212 std 0.22711717676752874 min -1.0 max 0.9999963073178033
+Train - Obs dim 20 mean 0.030136480689581902 std 0.33906020778153423 min -1.0 max 0.999998999991619
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+Train - Obs dim 22 mean -0.012819319998467226 std 0.06973319745290055 min -1.0 max 0.9999981927871517
+Train - Obs dim 23 mean -0.22446647876347367 std 0.39332013309849023 min -0.9999999534131866 max 0.9999973596960134
+Train - Action dim 1 mean 0.024737544353397162 std 0.14884351576978036 min -1.0 max 0.9999990000004999
+Train - Action dim 2 mean 0.0072442578256985335 std 0.11751811680991711 min -1.0 max 0.9999990000004999
+Train - Action dim 3 mean -0.009443158505506078 std 0.13478169419780953 min -1.0 max 0.9999990000004999
+Train - Action dim 4 mean 0.09377281622670909 std 0.1655878669964125 min -1.0 max 0.9999969573395628
+Train - Action dim 5 mean 0.0005484708632519405 std 0.028443994071011072 min -1.0 max 0.9999990000004999
+Train - Action dim 6 mean 0.0011374524260853126 std 0.05378051333959685 min -1.0 max 0.9999990000004999
+Train - Action dim 7 mean -0.004538660482017692 std 0.5059883254858543 min -1.0 max 0.9999990000004999

robomimic/square/normalization.npz

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+size 1498

robomimic/square/train.npz

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robomimic/transport-img/_2024_07_30_17_54_05.log

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+Using robot0_eef_pos with dim 3 for observation
+Using robot0_eef_quat with dim 4 for observation
+Using robot0_gripper_qpos with dim 2 for observation
+Using robot1_eef_pos with dim 3 for observation
+Using robot1_eef_quat with dim 4 for observation
+Using robot1_gripper_qpos with dim 2 for observation
+Total low-dim observation dim: 18
+Action dim: 14
+===== Basic stats =====
+total transitions: 52925
+total trajectories: 100
+traj length mean/std: 529.25, 98.11965909031686
+traj length min/max: 392, 786
+obs min: [-3.87397462e-01 -6.25304613e-01  0.00000000e+00  0.00000000e+00
+  0.00000000e+00 -2.37184185e-01 -2.51141327e-01 -8.11937619e-04
+ -4.25659365e-02 -2.98824064e-01 -5.01087908e-02  0.00000000e+00
+  0.00000000e+00 -9.81825662e-01 -3.20526141e-01 -3.84242461e-01
+ -3.44856433e-04 -4.18890207e-02]
+obs max: [4.48212767e-01 9.25028305e-02 1.42587269e+00 8.83748470e-01
+ 9.85755152e-01 3.46287177e-01 1.94509758e-01 4.19519800e-02
+ 1.36586841e-03 3.54766151e-01 6.84630962e-01 1.38242135e+00
+ 9.58689327e-01 0.00000000e+00 3.08424389e-01 2.14903686e-01
+ 4.05721111e-02 2.00945305e-03]
+action min: [-1.         -1.         -1.         -0.37039759 -0.27552914 -0.43308792
+ -1.         -1.         -1.         -1.         -1.         -0.22181264
+ -0.65266722 -1.        ]
+action max: [1.         1.         1.         1.         0.37573003 0.50275624
+ 1.         1.         1.         1.         0.56647951 0.25909724
+ 0.49969491 1.        ]
+Image shapes: [(96, 96, 3), (96, 96, 3)]
+
+========== Final ===========
+Train - Number of episodes and transitions: 100, 52925
+Val - Number of episodes and transitions: 0, 0.0
+Train - Mean/Std trajectory length: 529.25, 98.11965909031686
+Train - Max/Min trajectory length: 786, 392
+Train - Mean/Std episode reward: 5.31,  0.673721010508059
+Train - Obs dim 1 mean 0.1334120232652188 std 0.22480696273118997 min -1.0 max 0.9999976065424532
+Train - Obs dim 2 mean -0.0817198875849005 std 0.45912862605317273 min -1.0 max 0.9999972137413278
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+Train - Obs dim 4 mean 0.39578171875258766 std 0.3220579657075725 min -0.654214759907058 max 0.9999977369151909
+Train - Obs dim 5 mean 0.27773841372091995 std 0.2377281991364738 min -0.10610951808235425 max 0.9999979711006655
+Train - Obs dim 6 mean -0.12563663405942915 std 0.21008549907894786 min -1.0 max 0.9999965722455231
+Train - Obs dim 7 mean 0.03535493499621256 std 0.212186367835282 min -1.0 max 0.9999955121942281
+Train - Obs dim 8 mean 0.2359532307015519 std 0.5013233892067552 min -1.0 max 0.999953232693781
+Train - Obs dim 9 mean -0.22010415532237532 std 0.500375278015618 min -1.0 max 0.9999544759319621
+Train - Obs dim 10 mean -0.10124675670048008 std 0.31937753815675696 min -1.0 max 0.9999969399833497
+Train - Obs dim 11 mean -0.005703249812281711 std 0.3288293978064205 min -1.0 max 0.9999972779514497
+Train - Obs dim 12 mean 0.3246376188016062 std 0.2521765975297351 min 0.0 max 0.9999985532641325
+Train - Obs dim 13 mean 0.33763218998085526 std 0.27631479676363685 min -0.6944441966929431 max 0.9999979138206125
+Train - Obs dim 14 mean -0.2546544543576569 std 0.2344213638641562 min -1.0 max 0.43719503348766353
+Train - Obs dim 15 mean 0.06508344407932895 std 0.17681358448099407 min -1.0 max 0.9999968201047236
+Train - Obs dim 16 mean 0.2482067867151661 std 0.23125006926587344 min -1.0 max 0.9999966619218483
+Train - Obs dim 17 mean 0.3617733650886255 std 0.5148621021356025 min -1.0 max 0.9999511217168788
+Train - Obs dim 18 mean -0.35272072121434456 std 0.46928228754128815 min -1.0 max 0.9999544413673012
+Train - Action dim 1 mean 0.010940526707535536 std 0.3078308815019281 min -1.0 max 0.9999990000004999
+Train - Action dim 2 mean 0.016367073861014717 std 0.3043687328276954 min -1.0 max 0.9999990000004999
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+Train - Action dim 5 mean -0.0968276629587923 std 0.10748218572157867 min -1.0 max 0.9999969290306501
+Train - Action dim 6 mean -0.04991169691741037 std 0.12014543730846078 min -1.0 max 0.9999978628943118
+Train - Action dim 7 mean -0.07176874862580385 std 0.817431771540184 min -1.0 max 0.9999990000004999
+Train - Action dim 8 mean -0.021568850302839882 std 0.25584229379133777 min -1.0 max 0.9999990000004999
+Train - Action dim 9 mean 0.0023774145580940827 std 0.2716368655493509 min -1.0 max 0.9999990000004999
+Train - Action dim 10 mean 0.0047864184872162124 std 0.23279888570447616 min -1.0 max 0.9999990000004999
+Train - Action dim 11 mean 0.1880351499095309 std 0.14592562013225613 min -1.0 max 0.9999987232525471
+Train - Action dim 12 mean -0.052181977960377025 std 0.10878576982368757 min -1.0 max 0.9999958412252841
+Train - Action dim 13 mean 0.08499119880512629 std 0.10115211475166194 min -1.0 max 0.9999982644359804
+Train - Action dim 14 mean -0.1962979484477179 std 0.7967513378507701 min -1.0 max 0.9999990000004999

robomimic/transport-img/normalization.npz

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robomimic/transport-img/train.npz

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robomimic/transport/_2024_05_26_01_51_50.log

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+Using robot0_eef_pos with dim 3 for observation
+Using robot0_eef_quat with dim 4 for observation
+Using robot0_gripper_qpos with dim 2 for observation
+Using robot1_eef_pos with dim 3 for observation
+Using robot1_eef_quat with dim 4 for observation
+Using robot1_gripper_qpos with dim 2 for observation
+Using object with dim 41 for observation
+Total low-dim observation dim: 59
+Action dim: 14
+===== Basic stats =====
+total transitions: 195800
+total trajectories: 300
+traj length mean/std: 652.6666666666666, 200.97544349718174
+traj length min/max: 392, 2614
+obs min: [-4.63256720e-01 -7.98156403e-01  0.00000000e+00  0.00000000e+00
+  0.00000000e+00 -3.99055504e-01 -3.91387569e-01 -3.07557027e-03
+ -4.27359686e-02 -2.98824064e-01 -5.01087908e-02  0.00000000e+00
+  0.00000000e+00 -9.81825662e-01 -3.20526141e-01 -3.84242461e-01
+ -5.01894549e-04 -4.31702934e-02 -3.22756885e-01 -5.69468910e-01
+  0.00000000e+00 -9.59311604e-01 -9.99808848e-01 -9.97499526e-01
+  0.00000000e+00 -2.36256210e-01  0.00000000e+00  0.00000000e+00
+ -8.81865203e-01 -7.45665431e-01 -7.39091814e-01  0.00000000e+00
+ -4.42306659e-01 -6.02635058e-01 -5.99562726e-03 -9.99426603e-01
+ -8.77381265e-01 -5.27535558e-01  0.00000000e+00 -2.04945833e-01
+  0.00000000e+00  0.00000000e+00  0.00000000e+00  0.00000000e+00
+  0.00000000e+00 -6.85787970e-01 -3.58121562e-01 -7.72439007e-01
+ -7.81877442e-01 -6.61756814e-01 -1.57051799e+00 -2.21685285e-01
+ -1.04404384e+00 -8.05595065e-01 -3.28056087e-01 -3.07110448e-01
+ -8.85980547e-01  0.00000000e+00  0.00000000e+00]
+obs max: [0.49150458 0.11423256 1.67365872 0.95399691 0.98575515 0.61622742
+ 0.33293535 0.04282882 0.0027813  0.35476615 0.68463096 1.71572146
+ 0.95868933 0.         0.43200082 0.43787544 0.04067585 0.00200945
+ 0.42385505 0.5960566  1.67872024 0.88864338 0.99981391 0.99731219
+ 0.7837581  0.28959095 0.54924488 1.13651    0.87997741 0.81821859
+ 0.90154576 1.00000012 0.23526817 0.15086704 1.24405209 0.9994266
+ 0.87424797 0.7089563  1.00000036 0.         0.45498439 0.80693614
+ 0.20494932 0.4549681  0.806      0.49805609 1.11521554 0.68105503
+ 0.35579286 0.70447152 0.15850863 0.47934342 0.13517691 0.36069079
+ 0.49330317 0.51504602 0.06302934 1.         1.        ]
+action min: [-1.         -1.         -1.         -0.60489897 -0.64425274 -0.73978269
+ -1.         -1.         -1.         -1.         -1.         -0.27457889
+ -0.65266722 -1.        ]
+action max: [1.         1.         1.         1.         0.55085866 0.70682657
+ 1.         1.         1.         1.         0.56647951 0.25909724
+ 0.49969491 1.        ]
+
+========== Final ===========
+Train - Number of episodes and transitions: 300, 195800
+Val - Number of episodes and transitions: 0, 0.0
+Train - Mean/Std trajectory length: 652.6666666666666, 200.97544349718174
+Train - Max/Min trajectory length: 2614, 392
+Train - Mean/Std episode reward: 5.28,  0.7538346414610214
+Train - Obs dim 1 mean 0.049928941808138186 std 0.14032707346192239 min -1.0 max 0.9999979052377834
+Train - Obs dim 2 mean 0.018676512963883434 std 0.2219248912717479 min -1.0 max 0.9999978079548313
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+Train - Action dim 12 mean 0.006743367095318515 std 0.0423043217072047 min -1.0 max 0.9999962524157744
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robomimic/transport/normalization.npz

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robomimic/transport/train.npz

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