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google-deepmind / open_x_embodiment

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Unsuccessful Episodes in the "fractal20220817_data" #45

Open csuastt opened 4 months ago

csuastt commented 4 months ago

Hi! I have found some unsuccessful episodes in the fractal20220817_data dataset. I am saying that the robot could not complete the task.

For example, there are only 2 steps in #436 (start from 0) episode.

Task instruction:

tf.Tensor(b'place pepsi can into bottom drawer', shape=(), dtype=string)

Step 0:

Terminate:

tf.Tensor([1 0 0], shape=(3,), dtype=int32)

Image:

episode_436_step_0

Step 1:

Terminate:

tf.Tensor([0 0 0], shape=(3,), dtype=int32)

Image:

episode_436_step_1

Any explanation? Any idea for filtering such episodes?

csuastt commented 4 months ago

My current solution is to filter those having fewer steps. But I can still find some failures in "long" episodes.