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Description
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.
Do you have the program for PIGNet
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