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google-deepmind / open_x_embodiment

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Inquiry of robustness of model with humanoid robot #51

Open PhilipAmadasun opened 3 months ago

PhilipAmadasun commented 3 months ago

Has the model been trained for use with humanoid robots with the ability to walk and hold objects?

open-x-embodiment commented 3 months ago

No, the RT-*-X models have not been trained with humanoids. That being said, the models are trained with end-effector delta as the action space. So if you have the data from humanoids, it will be very useful if you share it with the community or try finetuning the model with your data.

On Sun, Mar 24, 2024 at 2:38 PM 'Philip Amadasun' via Open X-Embodiment Core @.***> wrote:

Has the model been trained for use with humanoid robots with the ability to walk and hold objects?

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PhilipAmadasun commented 3 months ago

@open-x-embodiment Thanks for the feedback. Would you happen to know of any models that already have some pretraining on this?