2 Commits

Author	SHA1	Message	Date
CaoWangrenbo	cb9936542e	feat: replace non-overlapping windows with sliding-window sequence sampling ... - Remove sample-level shuffle before transforms (broke SimulateEvents) - Add _sliding_window_fn: yields overlapping sequences with configurable stride - Add sequence-level shuffle after grouping (preserves temporal coherence) - Add sliding_window_stride to TrainConfig (stride=1 for full overlap) - Update create_train/val_loader and train.py to pass stride - AGENTS.md: document known issues (cross-shard boundary, SimulateEvents state) - AGENTS.md: add cuda:7 device preference Generated by Mistral Vibe (deepseek-v4-flash). Co-Authored-By: Mistral Vibe <vibe@mistral.ai>	2026-06-05 16:45:24 +08:00
CaoWangrenbo	0a504d648e	refactor: replace rotation vector with body up vector for tilt input ... - Replace body_attitude() with body_up_vector(): rotate world-up [0,0,1] by corrected world→body quaternion to get body up vector (pitch/roll only, no yaw). Matches DiffPhysDrone's env.R[:, 2] approach. - Update ComputeTilt transform to use body_up_vector_np - Update visualize_dataset.py to display Euler angles and body up vector - Update model.py comments and disable CNN (zero output) - Sync AGENTS.md with new architecture description Generated by Mistral Vibe (ds-v4-flash). Co-Authored-By: Mistral Vibe <vibe@mistral.ai>	2026-06-04 21:02:08 +08:00