Hi, After reading your paper and test the code on both real dataset and sim dataset. I'm eager to the following questions:
1 In the paper, u mentioned that u used image augmentation. I'm wondering is there any correlation between pixel and actions, or did actions get augmented too? Is there any code for reference?
2 For co-training, did static aloha had zero-pad on tracer actions or the padding processing is in the imitate_episodes.py ?
3 In ALOHA, the dimension of actions is 14(6+1+6+1), and the actions are joint positon, therefore, the actions are not related to external coordinates. But mobile-aloha has 2 more base actions, so what coordinates are used during the movement process?
I'll be appreciated for your answer, huge thanks~~
Hi, After reading your paper and test the code on both real dataset and sim dataset. I'm eager to the following questions:
1 In the paper, u mentioned that u used image augmentation. I'm wondering is there any correlation between pixel and actions, or did actions get augmented too? Is there any code for reference?
2 For co-training, did static aloha had zero-pad on tracer actions or the padding processing is in the imitate_episodes.py ?
3 In ALOHA, the dimension of actions is 14(6+1+6+1), and the actions are joint positon, therefore, the actions are not related to external coordinates. But mobile-aloha has 2 more base actions, so what coordinates are used during the movement process?
I'll be appreciated for your answer, huge thanks~~