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chernyadev / bigym

Demo-Driven Mobile Bi-Manual Manipulation Benchmark.
https://chernyadev.github.io/bigym/
Apache License 2.0
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Clarification on Bi-Manual Setup in Demo and Evaluation #13

Open www-Ye opened 2 months ago

www-Ye commented 2 months ago

Hello! I had the pleasure of running your demo and noticed the action space is consistently 16. I'm curious to know if the human demonstrations were all performed in a bi-manual setting. Additionally, I'm wondering if the final method evaluation was also exclusively in a bi-manual setting, without incorporating whole-body human demonstrations or evaluations. The paper doesn't seem to elaborate on this aspect, and any clarification would be greatly appreciated.

chernyadev commented 2 months ago

Hello,

It's good to hear that you were able to run demonstrations! Our main focus has been on mobile manipulation in the upper-body control mode, so all the demonstrations currently available are for that mode. Regarding the dimensions of the action space: you are correct that for the majority of the demonstrations it is 16; however, for some tasks (i.e. ReachTarget and MovePlate), this value is 15.

Thank you!