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Report new results #12

@CeHao-NUS

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@CeHao-NUS

Hi, Zhutian,

I tested the latest program and here I report some of the results.

B-2 can basically work.

python examples/test_data_generation.py --config_name kitchen_full_pr2.yaml

This config has more frequent world creation failure, as cant ensure_cfree.

python examples/test_data_generation.py --config_name kitchen_full_feg.yaml
python examples/test_data_generation_pigi.py

Two other configs are good. Their world and planning are mostly successful.

C-1 and C-2 can work.

The planning and images are saved correctly.

But C-3 seems strange.

The robot becomes transparent, and it only has a few frames. It might be because the episode is too short.
I will double-check this problem.

image

Do you have the program for PIGNet

https://piginet.github.io/

In the RSS paper, you used a transformer to evaluate the planned trajectories.
So have you also open-source this part? I would also like to test the transformer to plan the TAMP problem.

I may adjust the state and action space a bit. So for comparison, I would like to align the setting and compare it with your results if possible. Then I can also share my implementation.

Great thanks for your great kitchen-world.

Best,
Ce Hao

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