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Pepijn
75507491bf
Confirmed empirically on the published dataset: VQA bbox/keypoint coordinates are Qwen2.5-VL's 0–1000 normalized grounding output, NOT pixels. Scanning 8207 samples showed x and y both spanning 0..1000 with ~30% of values exceeding the camera's pixel dimensions (which is impossible if they were pixels). _vqa_answer_to_loc was dividing by the observation image's H/W, so e.g. point [742, 158] on a 640x480 wrist cam clamped x to <loc1023> (the far-right edge) instead of mapping to <loc0760> (~74% across). Fix: divide by 1000 — the actual Qwen scale. The conversion is now camera-resolution-independent, so _camera_image_shapes and the image_shapes plumbing through __call__ / _encode_messages / _messages_vqa_to_loc are dropped. Tests updated to the new signature and the 0–1000 round-trip. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>