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refactoring aciton transforms #604

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refactoring aciton transforms #604

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4 changes: 3 additions & 1 deletion egomimic/hydra_configs/data/aria.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,9 @@ train_datasets:
keymap_mode: cartesian
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
stride: 3
filters:
_target_: egomimic.rldb.filters.DatasetFilter
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4 changes: 3 additions & 1 deletion egomimic/hydra_configs/data/aria_keypoints.yaml
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Expand Up @@ -11,7 +11,9 @@ train_datasets:
keymap_mode: keypoints
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
mode: keypoints_headframe_ypr
action_mode: keypoints
coord_frame: camframe
rotation_mode: euler
stride: 3
filters:
_target_: egomimic.rldb.filters.DatasetFilter
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4 changes: 3 additions & 1 deletion egomimic/hydra_configs/data/aria_keypoints_wrist.yaml
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Expand Up @@ -11,7 +11,9 @@ train_datasets:
keymap_mode: keypoints
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
mode: keypoints_wristframe_ypr
action_mode: keypoints
coord_frame: eef_frame
rotation_mode: euler
stride: 3
filters:
_target_: egomimic.rldb.filters.DatasetFilter
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3 changes: 3 additions & 0 deletions egomimic/hydra_configs/data/aria_pi.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,9 @@ train_datasets:
_target_: egomimic.rldb.embodiment.human.Human.get_keymap
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
stride: 3
filters:
_target_: egomimic.rldb.filters.DatasetFilter
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4 changes: 3 additions & 1 deletion egomimic/hydra_configs/data/aria_qwen.yaml
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Expand Up @@ -16,7 +16,9 @@ train_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
stride: 3
filters: null
mode: train
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8 changes: 6 additions & 2 deletions egomimic/hydra_configs/data/bc_pickplace_eva_qwen.yaml
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Expand Up @@ -17,7 +17,9 @@ train_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
filters:
_target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter
project_name: dense-language
Expand All @@ -37,7 +39,9 @@ valid_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
filters:
_target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter
project_name: dense-language
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8 changes: 6 additions & 2 deletions egomimic/hydra_configs/data/cotrain_pi_base.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,9 @@ train_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
filters: null
mode: train
valid_ratio: 0.05
Expand All @@ -27,7 +29,9 @@ train_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
stride: 3
filters: null
mode: train
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8 changes: 6 additions & 2 deletions egomimic/hydra_configs/data/cotrain_pi_lang_wrist.yaml
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Expand Up @@ -8,10 +8,14 @@ train_datasets:
key_map:
keymap_mode: cartesian_wristframe_ypr
transform_list:
mode: cartesian_wristframe_ypr
action_mode: cartesian
coord_frame: eef_frame
rotation_mode: euler
human_bimanual:
resolver:
key_map:
keymap_mode: cartesian
transform_list:
mode: cartesian_wristframe_ypr
action_mode: cartesian
coord_frame: eef_frame
rotation_mode: euler
12 changes: 9 additions & 3 deletions egomimic/hydra_configs/data/cotrain_pi_pickplace_qwen.yaml
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Expand Up @@ -16,7 +16,9 @@ train_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
filters:
_target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter
project_name: dense-language
Expand All @@ -34,7 +36,9 @@ train_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
stride: 3
filters:
_target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter
Expand All @@ -55,7 +59,9 @@ valid_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
filters:
_target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter
project_name: dense-language
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12 changes: 9 additions & 3 deletions egomimic/hydra_configs/data/cotrain_pickplace_qwen.yaml
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Expand Up @@ -25,7 +25,9 @@ train_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
filters:
_target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter
project_name: dense-language
Expand All @@ -43,7 +45,9 @@ train_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
stride: 3
filters:
_target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter
Expand All @@ -64,7 +68,9 @@ valid_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
filters:
_target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter
project_name: dense-language
Expand Down
16 changes: 12 additions & 4 deletions egomimic/hydra_configs/data/cotrain_pickplace_qwen_objgen.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,9 @@ train_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
filters:
_target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter
project_name: dense-language
Expand All @@ -38,7 +40,9 @@ train_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
mode: cartesian_padded
action_mode: cartesian_gripper_padded
coord_frame: camframe
rotation_mode: euler
stride: 3
filters:
_target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter
Expand All @@ -59,7 +63,9 @@ valid_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
filters:
_target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter
project_name: dense-language
Expand All @@ -77,7 +83,9 @@ valid_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
mode: cartesian_padded
action_mode: cartesian_gripper_padded
coord_frame: camframe
rotation_mode: euler
stride: 3
filters:
_target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter
Expand Down
14 changes: 10 additions & 4 deletions egomimic/hydra_configs/data/cotrain_pickplace_qwen_wrist.yaml
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@@ -1,5 +1,5 @@
# Wristframe variant of cotrain_pickplace_qwen.yaml.
# Transform list uses cartesian_wristframe_ypr — actions are in each EEF wrist
# Transform list uses cartesian + eef_frame + euler — actions are in each EEF
# frame instead of head/base frame. Action chunk key + dim unchanged
# (actions_cartesian, 14D for eva). Pair with viz=cartesian_wrist_lang.

Expand All @@ -17,7 +17,9 @@ train_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list
mode: cartesian_wristframe_ypr
action_mode: cartesian
coord_frame: eef_frame
rotation_mode: euler
filters:
_target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter
project_name: dense-language
Expand All @@ -35,7 +37,9 @@ train_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
mode: cartesian_wristframe_ypr
action_mode: cartesian
coord_frame: eef_frame
rotation_mode: euler
stride: 3
filters:
_target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter
Expand All @@ -56,7 +60,9 @@ valid_datasets:
annotation_key: annotations
transform_list:
_target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list
mode: cartesian_wristframe_ypr
action_mode: cartesian
coord_frame: eef_frame
rotation_mode: euler
filters:
_target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter
project_name: dense-language
Expand Down
4 changes: 3 additions & 1 deletion egomimic/hydra_configs/data/eva.yaml
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Expand Up @@ -11,7 +11,9 @@ train_datasets:
keymap_mode: cartesian
transform_list:
_target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
filters:
_target_: egomimic.rldb.filters.DatasetFilter
filter_lambdas:
Expand Down
4 changes: 3 additions & 1 deletion egomimic/hydra_configs/data/human.yaml
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Expand Up @@ -17,7 +17,9 @@ train_datasets:
keymap_mode: cartesian
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
stride: 3
filters:
_target_: egomimic.rldb.filters.DatasetFilter
Expand Down
6 changes: 6 additions & 0 deletions egomimic/hydra_configs/data/industry_eva_pi.yaml
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Expand Up @@ -15,6 +15,9 @@ train_datasets:
_target_: egomimic.rldb.embodiment.eva.Eva.get_keymap
transform_list:
_target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
filters:
_target_: egomimic.rldb.filters.DatasetFilter
filter_lambdas:
Expand All @@ -30,6 +33,9 @@ train_datasets:
has_head_pose: false
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
stride: 1
filters:
_target_: egomimic.rldb.filters.DatasetFilter
Expand Down
4 changes: 3 additions & 1 deletion egomimic/hydra_configs/data/mecka.yaml
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Expand Up @@ -11,7 +11,9 @@ train_datasets:
keymap_mode: cartesian
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
stride: 1
filters:
_target_: egomimic.rldb.filters.DatasetFilter
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3 changes: 3 additions & 0 deletions egomimic/hydra_configs/data/mecka_pi.yaml
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Expand Up @@ -10,6 +10,9 @@ train_datasets:
_target_: egomimic.rldb.embodiment.human.Human.get_keymap
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
stride: 1
filters:
lab: "mecka"
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3 changes: 3 additions & 0 deletions egomimic/hydra_configs/data/mecka_scale_cotrain_pi.yaml
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Expand Up @@ -16,6 +16,9 @@ train_datasets:
has_head_pose: false
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
stride: 1
filters:
_target_: egomimic.rldb.filters.DatasetFilter
Expand Down
4 changes: 3 additions & 1 deletion egomimic/hydra_configs/data/scale.yaml
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Expand Up @@ -12,7 +12,9 @@ train_datasets:
has_head_pose: false
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
mode: cartesian
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
stride: 1
filters:
_target_: egomimic.rldb.filters.DatasetFilter
Expand Down
3 changes: 3 additions & 0 deletions egomimic/hydra_configs/data/scale_pi.yaml
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Expand Up @@ -11,6 +11,9 @@ train_datasets:
has_head_pose: false
transform_list:
_target_: egomimic.rldb.embodiment.human.Human.get_transform_list
action_mode: cartesian
coord_frame: camframe
rotation_mode: euler
stride: 1
filters:
filter_lambdas:
Expand Down
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