Runyu Ding

Hi, I find 2D images of some rooms missing, such as Area_3_hallway_5. Can you tell me why? Thanks

question about the pretrained HAIS model

2

Hi, thanks for you great work. I wonder if the HAIS pretrained model is necessary to achieve the high performance. Have you tried totally training from scratch?

pretrained model

2

Thanks for your great work and released code. I wonder if you can release the pretrained model so that we can evaluate the generalization ability on custom datasets.

Standardizing End-Effector Frame Conventions for Robot-Gripper Compatibility

4

**Issue:** Current code shows misaligned gripper mounting orientations, requiring custom gripper_mount_pose adjustments for different robot-gripper combinations. **Proposed frame convention:** Robot end-effector frame: - Z: gripper mounting direction - Y: lateral...

## What this does The exisiting joint controllers (`JointPositionController,` `JointVelocityController`, and `JointTorqueController`) would break under two conditions: - When the sequence of actuators didn't match the sequence of joints -...

Fix the unit of joint torque to make it consistent