{ "format": "molmoact2_norm_stats.v1", "norm_mode": "q01_q99", "metadata_by_tag": { "franka_droid": { "action_key": "action", "state_key": "observation.state", "camera_keys": [ "observation.images.exterior_1_left", "observation.images.exterior_2_left", "observation.images.wrist_left" ], "normalize_gripper": false, "action_horizon": 15, "n_action_steps": 15, "setup_type": "single franka robotic arm in droid", "control_mode": "absolute joint pose", "action_stats": { "min": [ -2.781099557876587, -1.6407934427261353, -2.7493984699249268, -2.9508564472198486, -2.7826988697052, 0.17983438074588776, -2.901715040206909, 0.0 ], "max": [ 2.7449073791503906, 1.6668277978897095, 2.7546653747558594, -0.1936211884021759, 2.7786083221435547, 4.402013778686523, 2.90183162689209, 1.0 ], "mean": [ 0.010418229819396566, 0.28233935319840636, -0.015346633420959944, -2.0060878874674715, -0.029448930257783886, 2.350942437431684, 0.09820869537671756, 0.4390250813949694 ], "std": [ 0.3170372143097277, 0.4863630998896905, 0.27477375809610444, 0.48806966037647037, 0.528105567983804, 0.4517944470893175, 0.7430287051319469, 0.44171628153080567 ], "count": [ 17758044.0 ], "q01": [ -0.2879620949867506, -0.5702219304684566, -0.31101638810433413, -2.5622234922052725, -0.5101021838814974, 1.7376836093987995, -0.5227783063045004, 8.3274762776141e-05 ], "q10": [ -0.2014563967491066, -0.1953558605308627, -0.20948523622127932, -2.402722104277799, -0.3766226599271436, 1.9723782378158212, -0.35517365133256956, 0.006328163222238114 ], "q50": [ 0.007162417319678469, 0.336456475452052, -0.013974891825914252, -2.008015245005848, -0.025656272672692895, 2.3675065323600304, 0.09545267517159627, 0.4136583280016901 ], "q90": [ 0.226670788411882, 0.6598602025239771, 0.17603345191458397, -1.6119685483207011, 0.3092560943750579, 2.7008573894589345, 0.5521874183259908, 0.8737818408325101 ], "q99": [ 0.32190872731317344, 0.7405054873177153, 0.2737893247287367, -1.5075067942029405, 0.4329542718063284, 2.804162424656418, 0.7128911284154664, 0.8917437724235555 ], "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "gripper" ], "mask": [ true, true, true, true, true, true, true, false ] }, "state_stats": { "min": [ -2.6536705493927, -1.6156227588653564, -2.6781487464904785, -2.9409868717193604, -2.6705946922302246, 0.24893812835216522, -2.757359266281128, 0.0 ], "max": [ 2.6687583923339844, 1.5840554237365723, 2.666306734085083, -0.29779934883117676, 2.6624162197113037, 4.272191524505615, 2.755643367767334, 1.0 ], "mean": [ 0.011081824850861873, 0.27280296447760194, -0.01550719225628586, -2.01647228106023, -0.029620826332964655, 2.3483866081585507, 0.09636965416886735, 0.3927326432557614 ], "std": [ 0.31291266868924655, 0.4934370267472678, 0.2728791258795487, 0.48437020229024425, 0.521435680610052, 0.44821751701382595, 0.7352730961005634, 0.4070640216658998 ], "count": [ 17758044.0 ], "q01": [ -0.2793009809782748, -0.5873924424866738, -0.3058546817065916, -2.5639055042030354, -0.491431808753978, 1.7381500993283228, -0.5086147192989775, 1.6414552399718753e-05 ], "q10": [ -0.1994457930505723, -0.2381088441987148, -0.2103897594636481, -2.421918892949847, -0.3725951094142233, 1.961410109454104, -0.35782982482940473, 0.005005809072924616 ], "q50": [ 0.007891181486763803, 0.3376595448103942, -0.014280627673021464, -2.0134951539128574, -0.025990006808582142, 2.3690656185268972, 0.09443906823538496, 0.38343357074070045 ], "q90": [ 0.22605189533019984, 0.6543162155730768, 0.17689204963635444, -1.6243810394635305, 0.30497772553178637, 2.696376125344824, 0.5494813775877777, 0.7734412581580631 ], "q99": [ 0.3148177895778054, 0.7235689468221655, 0.2683897323238184, -1.530780071911146, 0.415067150345451, 2.7863710743039887, 0.6952765173061115, 0.7968550629755542 ], "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "gripper" ], "mask": [ true, true, true, true, true, true, true, false ] } } } }