more fixes

src/lerobot/processor/observation_processor.py

@@ -230,7 +230,14 @@ class LiberoProcessorStep(ObservationProcessorStep):
         Processes both image and robot_state observations from LIBERO.
         """
         processed_obs = observation.copy()
+        for key in list(processed_obs.keys()):
+            if key.startswith(f"{OBS_IMAGES}."):
+                img = processed_obs[key]
 
+                # Flip both H and W
+                img = torch.flip(img, dims=[2, 3])
+
+                processed_obs[key] = img
         # Process robot_state into a flat state vector
         if "observation.robot_state" in processed_obs:
             robot_state = processed_obs.pop("observation.robot_state")
@@ -241,8 +248,7 @@ class LiberoProcessorStep(ObservationProcessorStep):
             gripper_qpos = robot_state["gripper"]["qpos"]  # (2,)
 
             # Convert quaternion to axis-angle
-            eef_axisangle = self._quat2axisangle(eef_quat.squeeze(0))  # (3,)
-            eef_axisangle = eef_axisangle[np.newaxis, :]  # (1, 3)
+            eef_axisangle = self._quat2axisangle(eef_quat)  # (B, 3)
 
             # Concatenate into a single state vector
             state = np.concatenate((eef_pos, eef_axisangle, gripper_qpos), axis=1)
@@ -269,27 +275,40 @@ class LiberoProcessorStep(ObservationProcessorStep):
 
     def _quat2axisangle(self, quat):
         """
-        # Copied from robosuite.utils.transform_utils.quat2axisangle
-        Converts quaternion to axis-angle format.
+        Converts quaternion to axis-angle format (vectorized for batches).
         Returns a unit vector direction scaled by its angle in radians.
 
         Args:
-            quat (np.array): (x,y,z,w) vec4 float angles
+            quat (np.array): (B, 4) or (4,) array of quaternions in (x,y,z,w) format
 
         Returns:
-            np.array: (ax,ay,az) axis-angle exponential coordinates
+            np.array: (B, 3) or (3,) axis-angle exponential coordinates
         """
-        import math
+        # Handle both batched and single quaternion inputs
+        if quat.ndim == 1:
+            quat = quat[np.newaxis, :]  # (1, 4)
+            single_input = True
+        else:
+            single_input = False
 
-        # clip quaternion
-        if quat[3] > 1.0:
-            quat[3] = 1.0
-        elif quat[3] < -1.0:
-            quat[3] = -1.0
+        # clip quaternion w component to [-1, 1]
+        quat = quat.copy()
+        quat[:, 3] = np.clip(quat[:, 3], -1.0, 1.0)
 
-        den = np.sqrt(1.0 - quat[3] * quat[3])
-        if math.isclose(den, 0.0):
-            # This is (close to) a zero degree rotation, immediately return
-            return np.zeros(3)
+        # compute denominator - sqrt(1 - w^2)
+        den = np.sqrt(1.0 - quat[:, 3] ** 2)
 
-        return (quat[:3] * 2.0 * math.acos(quat[3])) / den
+        # for near-zero rotations, return zeros
+        result = np.zeros((quat.shape[0], 3))
+
+        # only compute for non-zero rotations
+        non_zero_mask = den > 1e-10
+        if np.any(non_zero_mask):
+            result[non_zero_mask] = (
+                quat[non_zero_mask, :3]
+                * (2.0 * np.arccos(quat[non_zero_mask, 3]) / den[non_zero_mask])[:, np.newaxis]
+            )
+
+        if single_input:
+            return result[0]
+        return result

tests/processor/test_libero_processor.py

@@ -22,31 +22,31 @@ import torch
 seed = 42
 np.random.seed(seed)
 
+B = 5
 obs1 = {
     "pixels": {
-        "image":  (np.random.rand(1, 256, 256, 3) * 255).astype(np.uint8),
-        "image2": (np.random.rand(1, 256, 256, 3) * 255).astype(np.uint8),
+        "image":  (np.random.rand(B, 256, 256, 3) * 255).astype(np.uint8),
+        "image2": (np.random.rand(B, 256, 256, 3) * 255).astype(np.uint8),
     },
     "robot_state": {
         "eef": {
-            "pos": np.random.randn(1, 3),
-            "quat": np.random.randn(1, 4),
-            "mat": np.random.randn(1, 3, 3),
-            "axisangle": np.random.randn(1, 3),
+            "pos": np.random.randn(B, 3),
+            "quat": np.random.randn(B, 4),
+            "mat": np.random.randn(B, 3, 3),
+            "axisangle": np.random.randn(B, 3),
         },
         "gripper": {
-            "qpos": np.random.randn(1, 2),
-            "qvel": np.random.randn(1, 2),
+            "qpos": np.random.randn(B, 2),
+            "qvel": np.random.randn(B, 2),
         },
         "joints": {
-            "pos": np.random.randn(1, 7),
-            "vel": np.random.randn(1, 7),
+            "pos": np.random.randn(B, 7),
+            "vel": np.random.randn(B, 7),
         }
     }
 }
 
 observation = preprocess_observation(obs1)
-
 libero_preprocessor = PolicyProcessorPipeline(
     steps=[
         LiberoProcessorStep(),
@@ -58,7 +58,7 @@ state = processed_obs["observation.state"]
 assert isinstance(state, torch.Tensor)
 assert state.dtype == torch.float32
 
-assert state.shape[0] == 1
+assert state.shape[0] == B
 assert state.shape[1] == 8
 
 assert "observation.images.image" in processed_obs
@@ -67,5 +67,5 @@ assert "observation.images.image2" in processed_obs
 assert isinstance(processed_obs["observation.images.image"], torch.Tensor)
 assert isinstance(processed_obs["observation.images.image2"], torch.Tensor)
 
-assert processed_obs["observation.images.image"].shape == (1, 3, 256, 256)
-assert processed_obs["observation.images.image2"].shape == (1, 3, 256, 256)
+assert processed_obs["observation.images.image"].shape == (B, 3, 256, 256)
+assert processed_obs["observation.images.image2"].shape == (B, 3, 256, 256)