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huangwl18 / VoxPoser

VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
https://voxposer.github.io/
MIT License
573 stars 77 forks source link

Questions about online learning #8

Open wxz1996 opened 11 months ago

wxz1996 commented 11 months ago

Thank you for your amazing work！I was very inspired after read the code, but also had a questions：

  1. for contact-rich tasks, zero-shot synthesized trajectories by VoxPoser is not enough，you say y used a MLP for this task，but I don't see this part of the code in the repository。Do you have any plans for open source this part? or is there a reference to this part? I'm not very familiar with this part，especially “online interactions” 。How can this trajectory be optimized in the forward propagation and backpropagation of MLP？