关于Openpi的state和action

绝对or相对？

umiEE是相对于第一帧的，

将绝对的EEF pose转换为相对于第一帧的

所以就目前看来，意思是

而且根据59中的代码:

        # generate relative pose with respect to episode start
        for robot_id in range(self.num_robot):
            # HACK: add noise to episode start pose
            if (f'robot{other_robot_id}_eef_pos_wrt_start' not in self.shape_meta['obs']) and \
                (f'robot{other_robot_id}_eef_rot_axis_angle_wrt_start' not in self.shape_meta['obs']):
                continue
            
            # convert pose to mat
            pose_mat = pose_to_mat(np.concatenate([
                obs_dict[f'robot{robot_id}_eef_pos'],
                obs_dict[f'robot{robot_id}_eef_rot_axis_angle']
            ], axis=-1))
            
            # get start pose
            start_pose = obs_dict[f'robot{robot_id}_demo_start_pose'][0]
            # HACK: add noise to episode start pose
            start_pose += np.random.normal(scale=[0.05,0.05,0.05,0.05,0.05,0.05],size=start_pose.shape)
            start_pose_mat = pose_to_mat(start_pose)
            rel_obs_pose_mat = convert_pose_mat_rep(
                pose_mat,
                base_pose_mat=start_pose_mat,
                pose_rep='relative',
                backward=False)
            
            rel_obs_pose = mat_to_pose10d(rel_obs_pose_mat)
            # HACK: add noise to episode start pose
            # obs_dict[f'robot{robot_id}_eef_pos_wrt_start'] = rel_obs_pose[:,:3]
            obs_dict[f'robot{robot_id}_eef_rot_axis_angle_wrt_start'] = rel_obs_pose[:,3:]

关于libero的讨论637