6D pi data transform - #487
Draft
aidang3019 wants to merge 4 commits into
Draft
Conversation
Contributor
Author
|
Warning This pull request is not mergeable via GitHub because a downstack PR is open. Once all requirements are satisfied, merge this PR as a stack on Graphite.
This stack of pull requests is managed by Graphite. Learn more about stacking. |
aidang3019
force-pushed
the
elmo/pi-raw-rot6d
branch
from
June 11, 2026 20:50
2c66921 to
59729c4
Compare
This was referenced Jun 16, 2026
aidang3019
force-pushed
the
elmo/pi-raw-rot6d
branch
from
June 19, 2026 22:15
59729c4 to
bee8d0b
Compare
aidang3019
force-pushed
the
elmo/pi-raw-rot6d
branch
from
July 7, 2026 02:57
bee8d0b to
79dae92
Compare
ElmoPA
force-pushed
the
elmo/pi-raw-rot6d
branch
2 times, most recently
from
July 9, 2026 01:40
dead146 to
5b6e729
Compare
- 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>
aidang3019
force-pushed
the
elmo/pi-raw-rot6d
branch
from
August 28, 2026 16:06
5b6e729 to
322d105
Compare
aidang3019
force-pushed
the
aidan/pi-6d
branch
from
August 28, 2026 16:06
282c2f6 to
9e1f401
Compare
… Rz(180) fix Squash of the two mecka-all pipeline commits that used to sit inside aidan/eval_gating, so the whole wristframe 6D pipeline lives on this branch. mecka-all launch infra (was a8ae76b): - pi0.5_base default_prompt "" (was "This is a bad action."; remote parity — applies to frames outside any annotation span) - mecka_all_pi_6d: cartesian_wristframe_6d stride 1 — 18D wrist-relative actions (world frame AND moving head frame cancel out of the targets), head-frame 6D proprio; shared PACE mirror folder_path; DatasetFilter lambda (dict filters raise in the zarr resolver path) - get_embodiment_id: vendor-tagged human names (MECKA_/SCALE_/ARIA_/ LIGHTWHEEL_*) collapse to HUMAN_* — mirror episodes carry MECKA_BIMANUAL metadata from the vendor-split registry - norm collection: float32 + 2M-sample cap (a 0.1-frac (N,100,18) float64 stack plus np.percentile's sort copy is ~250GB) - precompute_norm_stats.py: CPU port of the remote's script against the local trainHydra norm loop; sbatch variants (24c CPU / 1xa100 32c / 2xa100 64c) + smoke (viz gate proof) + 8xH200 train scripts, paired with evaluator=eval_pi_wristframe_6d fix mecka left wrist frame (was 68ef3aa): - mecka_to_zarr.compute_hand_pose_xyzquat double-mirrored the LEFT hand onto the right hand's spatial convention (palm normal from cross(thumb, pinky) already mirrors chirality; rot_left flipped x/y again). Converter fixed; RotateLocalFrame + the fix_mecka_left_wrist data-config flag right-multiply the stored left pose keys by Rz(180°) before any frame math, exactly equivalent to reconverting processed_v3. - viz_mecka_episode / viz_eva_episode debug renderers. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…-stats provenance, independent round-trip tests
Adversarial review of the wristframe 6D pipeline (2026-08-28) found no
math bug: the forward transform, quantile normalization, 32D pack/unpack
and the evaluator revert all round-trip to float32 precision against
independent SE(3) math, for both embodiments and both left-wrist
conventions. It did find three silent-failure modes:
- SplitKeys sliced an 18/20-dim 6D batch as "xyz + ypr" without complaint
whenever an evaluator's ypr revert list was paired with a *_6d data
config (eval_pi.yaml vs cartesian_wristframe_6d). It now raises with the
widths and points at transform_lists.
- MultiDataset._check_bounds compared strictly against quantile bounds
that collapse to [0, 0] at t=0 of wrist-frame chunks (the reference IS
the obs pose). Those cells are exactly 0.0 today, so nothing was
rejected, but any roundoff (other BLAS / dtype) would have resampled
every frame. Add a 1e-6 absolute tolerance, and warn once instead of
silently skipping the key when the stats do not broadcast.
- norm_stats.json carried no provenance: a cached file from another
norm_mode / keymap / transform mode with the same dims was applied
as-is at train AND eval. cache_stats now writes {norm_mode, stat_shapes};
_load_precomputed_stats refuses a norm_mode or key-set mismatch (files
written before provenance still load, with a warning).
test_wrist6d_roundtrip.py runs the REAL Human/Eva transform lists on
synthetic world-frame poses through normalize -> to32/from32 ->
unnormalize -> revert and compares every stage with plain numpy/scipy
SE(3) math that shares no code with the pipeline (both
fix_mecka_left_wrist settings, both eva extrinsics), plus torch-vs-scipy
Euler-convention and Gram-Schmidt cross-checks and tests for the three
guards above. The existing tests only compared the pipeline with itself.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This was referenced Sep 3, 2026
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
1 participant
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.
No description provided.