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NVlabs / motion-policy-networks

This repo has the expert data generation infrastructure and Pytorch implementation of MPiNets.
MIT License
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Suggestion for generalizing this model to other 7-DoF robotic arms #19

Open im-renpei opened 1 year ago

im-renpei commented 1 year ago

Have you tried using this model on other manipulators?

fishbotics commented 1 year ago

There are two important questions here: 1) how to generalize this to another single manipulator (e.g. a UR-10) and 2) how to make this generalize to many manipulators using the same weights.

The easiest way to do the first one would be to generate new expert data. This would be some work but not impossible (you would need to adapt some of the tooling I've set up to work with your new robot, as well as set up the Geometric Fabrics). Tuning the Geometric Fabrics would likely be the most time-consuming part.

I have some half-formed thoughts on how to address (1) or (2) as research projects, but those directions are very open-ended and would go beyond the scope of this repo. If you're interested in exploring either one of those, I'd be happy to chat. Feel free to write me an email and we can discuss (my email is on my webpage: fishbotics.com).