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WangYixuan12 / d3fields

[CoRL 24] D^3Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Robotic Manipulation
https://robopil.github.io/d3fields/
MIT License
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Confusing about keypoints tracking #1

Closed zhide730 closed 11 months ago

zhide730 commented 11 months ago

Thank you for your excellent work! I am confused about one part, why do you need to track keypoints from time t to t+1? Isn't the representation of the scene directly obtainable through observation at time t+1? Looking forward to your answer.

WangYixuan12 commented 11 months ago

Hi Zhide, thank you for your interest in our work. You could directly obtain correspondence using observation at t+1. However, directly using it might be unstable. Therefore, leveraging the temporal information could make keypoint tracking more stable.