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NVlabs / RVT

Official Code for RVT-2 and RVT
https://robotic-view-transformer-2.github.io/
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How to get the rgb images masks #64

Open LogSSim opened 1 month ago

LogSSim commented 1 month ago

I saw an observation of RLbench including the masks of RGB images. How could I get it in this code?

imankgoyal commented 1 month ago

Hi,

We use dataloader functions from PerAct. You might have to modify them ground up to make masks available. Some places you can start looking at:

-- https://github.com/NVlabs/RVT/blob/master/rvt/utils/dataset.py#L262-L268 -- https://github.com/NVlabs/peract/blob/5c2988edb961d67d7a921cbbc638f69947debff8/helpers/utils.py#L322