Skip to content

fix(motion): handle adaptive reset zero-floor cold start #1661

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
TATP-233 merged 1 commit into from
Sep 27, 2026
Merged

fix(motion): handle adaptive reset zero-floor cold start #1661

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 7 additions & 2 deletions src/unilab/tasks/motion_tracking/common/motion_loader.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -510,8 +510,13 @@ def _sample_adaptive(self, env_ids: np.ndarray) -> np.ndarray:
padded = np.pad(sampling_probs, (0, self.adaptive_kernel_size - 1), mode="edge")
sampling_probs = np.convolve(padded, self.kernel, mode="valid")

# Normalize to probabilities
sampling_probs = sampling_probs / sampling_probs.sum()
# With no failure statistics yet, a zero uniform floor leaves every bin
# at weight zero. Initialize that cold-start state as uniform.
sampling_weight_sum = float(sampling_probs.sum())
if sampling_weight_sum <= 0.0:
sampling_probs = np.full(self.bin_count, 1.0 / self.bin_count, dtype=np.float64)
else:
sampling_probs = sampling_probs / sampling_weight_sum

# Sample bins
sampled_bins = (
Expand Down
20 changes: 20 additions & 0 deletions tests/envs/test_motion_loader.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -208,6 +208,26 @@ def test_motion_sampler_uses_env_owned_rng_and_steps_only_selected_rows(tmp_path
assert sampler.current_frames[2] == frames[1] + 1


def test_motion_sampler_adaptive_zero_floor_cold_starts_uniform(tmp_path):
motion = tmp_path / "motion.npz"
_write_motion_npz(motion, base_value=0.0, num_frames=70)
loader = MotionLoader(str(motion))
sampler = MotionSampler(
loader,
mode="adaptive",
num_envs=64,
adaptive_uniform_ratio=0.0,
rng=np.random.default_rng(7),
)

frames = sampler.sample_frames(np.arange(64, dtype=np.int32))

assert frames.min() >= 0
assert frames.max() < loader.num_frames
np.testing.assert_allclose(sampler.sampling_entropy, 1.0)
np.testing.assert_allclose(sampler.sampling_top1_prob, 1.0 / sampler.bin_count)


def test_box_motion_loader_reads_object_state_and_trims_robot_joints(tmp_path):
from unilab.tasks.motion_tracking.g1.motion_box_loader import BoxMotionLoader

Expand Down
Loading