Keeping the last state in demonstration episode

ARISE-Initiative / robosuite

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

https://robosuite.ai

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Keeping the last state in demonstration episode #177

Closed zhuyifengzju closed 3 years ago

zhuyifengzju commented 3 years ago

It seems that the example script in collecting demonstration deletes the last state of an episode: https://github.com/ARISE-Initiative/robosuite/blob/a18f1a79a4baa612c43917efd13ff299ff19e7ca/robosuite/scripts/collect_human_demonstrations.py#L143

Shouldn't we keep the last state so that we keep the goal state of an episode? Or save it in a different field?

amandlek commented 3 years ago

We did this to make it so that the states and actions are the same length. This isn't an issue since for collecting human demos, we have a "hold" for keeping the last few success states (see here).