search

huangwl18 / ReKep

ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
https://rekep-robot.github.io/
512 stars 52 forks source link

OmniGibson runs slowly #6

Open algo-scope opened 1 month ago

algo-scope commented 1 month ago

Hello, thank you for your work! Due to my network conditions, there is approximately a 2-second latency each time I call OpenAI. I have 32GB of memory and a 12GB 3060 graphics card, but during the demo run, OmniGibson is a bit laggy. The saved video seems normal. I would like to know if this situation will affect the performance of your model, or will it only manifest as slower speed but with accurate actions?

Everloom-129 commented 1 month ago

from my understanding, the system is run stage by stage, once a component fails, it could reverse to the last stage to retry.

As for openai connection, it will increase the overall time cost, but for each execution it will not involve. As IK is solved and operated directly by the pybullet in a more classical control way