Dataset info.json is wrong
#2
by giacom0hexagon - opened
"observation.state" claims the state to be:
"x",
"y",
"z",
"rx",
"ry",
"rz",
"rw",
"gripper"
]
However the observation statistics are not compatible with a quaternion orientation representation:
"mean": [
-0.0419064655693921,
0.0353943785769225,
0.8257066448085474,
2.908315654671235,
-0.5562158603122547,
-0.1664910329554594,
0.02831534785236664,
-0.028561558922556265
]
Looking at frame by frame w a python script: dims 3–6 should have norm = 1):
- per-frame ‖dims 3–6‖ = min 2.63, mean 3.24, max 4.36
- 0.0% of frames are within 1% of norm 1.0
The LiberoProcessorStep._process_observation returns a state composed of state = torch.cat((eef_pos, eef_axisangle, gripper_qpos), dim=-1) which is compatible with the numbers above. I think this is the correct state decomposition