Bunker

ACT Tuning Tips

1

thank for you work！！！ - Chunk size is the most important param to tune when applying ACT to a new environment. One chunk should correspond to ~1 secs wall-clock robot...

collecting demonstrations in the robosuite

4

After collecting demonstrations in the robosuite env, and then converting them using the conversion script provided, there seems to be an issue of action not being in the scale [-1,...

start ibc

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Hi,thank you for your work. when I run ./ibc/run_tests.sh it tell me **Traceback (most recent call last): File "/home/nmz/ibc/data/dataset_test.py", line 25, in from ibc.environments.block_pushing import block_pushing # pylint: disable=unused-import File...

train bc_transformer

2

I collect my wipe datase from robosuite python dataset_states_to_obs.py --dataset /home/xxx/robomimic/demo.hdf5 --output_name image_dense.hdf5 --done_mode 2 --camera_names agentview robot0_eye_in_hand --camera_height 84 --camera_width 84 I want to train with bc_transformer python train.py...

I collect my wipe datase from robosuite using spacemouse to train with robomimic python dataset_states_to_obs.py --dataset /home/xxx/robomimic/demo.hdf5 --output_name image_dense.hdf5 --done_mode 2 --camera_names agentview robot0_eye_in_hand --camera_height 84 --camera_width 84 I want...

Command and Action

2

Thank you for you great work！ Robot reach task， reach_env_cfg CommadCfg UniformPoseCommand and ActionCfg I noticed that your command provides the end-effector position, while the policy outputs actions corresponding to...

Headless execution with off-screen render

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System Info Describe the characteristic of your environment: Commit: https://github.com/NVIDIA-Omniverse/orbit/commit/670a8c97db645d50a3ea89b06f7366fc2212fc06 Isaac Sim Version: 2023.1.1 OS: Ubuntu 20.04 GPU: RTX 3080Ti CUDA: 12.2 GPU Driver: 535.161.07 RAM:64G python source/standalone/workflows/rsl_rl/train.py --task Isaac-Reach-UR10-v0...

class omni.isaac.orbit.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg Is this class for specifying a point in the environment for the robotic arm to reach? How do I know the coordinates of a point on the table?...

rsl_rl

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Hi, I am wondering where I can find out how the get_observation function is fulfilled, it is a declaration of abstract method in vec_env.py. I found you answer here https://github.com/leggedrobotics/rsl_rl/issues/11....

[train_robomimic_image_workspace.yaml](https://github.com/real-stanford/diffusion_policy/blob/main/diffusion_policy/config/train_robomimic_image_workspace.yaml) What does this configuration file mean? Will the data from robomimic be used to train with your method? I want to collect my data from robomimic and train with...