Ram81 / goat-bench

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Hi, Ques about goat-bench dataset #18

Closed Yonggie closed 3 months ago

Yonggie commented 4 months ago

Every file in goat-bench has 2 keys goals and episodes

I have question about the goals key information: 图片

Is the position at NO.1 the goal ground truth? The goal have multiple position in key image goal (at NO.2 area), is this the multiple viewpoints you mentioned in the paper? 图片

Yonggie commented 4 months ago

hi, is the postion in the json file the x,y,z coordinates?

Ram81 commented 4 months ago

Hi @Yonggie, yes the poses are in x, y, z. You can read more about coordinate frames used in habitat here. We use the standard coordinate frame from habitat.

Ram81 commented 4 months ago

Is the position at NO.1 the goal ground truth? The goal have multiple position in key image goal (at NO.2 area), is this the multiple viewpoints you mentioned in the paper?

@Yonggie yes, the first goal is the centroid of the object and it's rotation. The list of image_goals are various viewpoints as shown in the figure.

Ram81 commented 3 months ago

Closing the issue due to inactivity