Repository navigation
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Native RoboTwin endpose/HDF5 quaternions are scalar-first
wxyz, but the EEF path interpreted them asxyzw. For example, the native identity quaternion[1,0,0,0]became rot6d for Rx(180°). This change preserves the physical rotation when loading training actions, computing statistics, encoding live proprio, and decoding actions for RoboTwin.Fixes #62.
The change is limited to the RoboTwin EEF convention and its documentation/tests. Shared xyzw helpers retain their behavior for other benchmarks. The normalization-stat shard namespace is bumped so resuming statistics computation cannot mix old and corrected EEF representations. Tests use independent physical rotation matrices (identity, ±quaternions, 90°/180° rotations, and a mixed-axis rotation), check both arms/positions/grippers, and cover legacy shard exclusion; existing RoboTwin fixtures now store native wxyz.
Checkpoint compatibility: this deliberately corrects the EEF representation; it is not a drop-in runtime fix for checkpoints trained with the former convention. Those checkpoints need their matching legacy revision until explicitly migrated or retrained. The README documents this and the need to regenerate final normalization statistics. No checkpoint migration or GPU evaluation is claimed.
Validation (CPU, Python 3.12 on macOS):
0c9ed80d80af1d0c5f4148afe65cc7f462ec3995and all pass with this fix.make compileand full-repository Ruff lint passed.make all: 2116 passed, 18 skipped, 41 deselected, 1 failed. The sole failure,tests/test_speed_preset.py::test_shell_launcher_defers_preset_and_automatically_selects_gpu_count, also fails unchanged on the upstream base on this macOS host (' 2' != '2', from the launcher GPU-count string). Neither that test nor the launcher is modified here.git diff --checkpassed. GPU/model evaluation was not run.