- config: seq_len=128, batch_size=4 for long-sequence TBPTT
- dataset: create_tbptt_loader with non-overlapping windows, strict temporal order
- model: forward() accepts/exposes hidden state h; add step() for single-frame stateful inference
- train: carry detached hidden state across batches, reset at epoch boundary
- benchmark: fix model call for new (v_body, h) return signature
Generated by Mistral Vibe.
Co-Authored-By: Mistral Vibe <vibe@mistral.ai>
- model outputs (B, S, 2) instead of (B, 2) — GRU output at every timestep
- train/val loss computed over all S timesteps with reduction=none
- benchmark/evaluate.py takes pred[:, -1, :] for final-step evaluation
- added per-step loss logging (8 evenly spaced steps) to TensorBoard
Generated by Mistral Vibe.
Co-Authored-By: Mistral Vibe <vibe@mistral.ai>
- Activate CNNEncoder forward (replace zero placeholder with actual inference)
- Enable near-zero weight init for head final layer (weight*=0.01, bias=0)
- Disable NormalizeVelocity transform to train on raw velocity scale
- (BatchNorm remains commented out)
Generated by deepseek-v4-flash.
Co-Authored-By: Mistral Vibe <vibe@mistral.ai>
- 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>
hexone2086