6D pi data transform - #487
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- eva/human cartesian_6d + wristframe_6d modes 6D-encode observations.state.ee_pose (revert lists convert it back before the eef-frame revert) so proprio normalization avoids the ±π yaw/roll wrap - bounds checking skips rotation channels of actions_cartesian / ee_pose via BIMANUAL_CARTESIAN_LAYOUTS (ported from the wristframe-6d stack) - pi0.5_base: constant-with-warmup LR schedule (cosine decayed to 0 @ 60k) - new pi0.5_bc_mecka_6d + mecka_all_pi_6d configs: all SQL mecka episodes, bs 64, cartesian_6d stride 1, proprio in prompt, no embodiment label Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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