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use 6D orientation representation #7

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Yasu31 wants to merge 1 commit into main from orientation_representation

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Yasu31 commented May 7, 2024

since 6D rotation representations tend to perform better than quaternions...
https://arxiv.org/pdf/2404.11735

checklist

PR can be merged after all these are met

describe the changes (with screenshots if it helps)

If this PR modifies any part of the training, post the W&B results of the following experiments (post screenshot of the consecutive_successes)

python train.py task=FaiveHandP0 capture_video=True force_render=False wandb_activate=True wandb_group=srl_ethz wandb_project=faive_hand wandb_name=faivehandp0_check


          use 6D orientation representation

285ffb0

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