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hyperplane-lab / RLAfford

RLAfford: End-to-End Affordance Learning for Robotic Manipulation, ICRA 2023
https://sites.google.com/view/rlafford/
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Physical experiments #12

Closed duidui6666 closed 5 months ago

duidui6666 commented 5 months ago

I would like to ask if the eyes are outside the hands in the real experiments? Another question is the A Digital Twin System used in the physical experiment, which I am a little curious about, and the last question, which is mentioned in the article, is there a movable base on the arm, but it seems that I did not see it in the actual experiment.

GengYiran commented 5 months ago

good question！we use eyes on base in real world system, we also train a policy for the real world experiment that the arm cannot move on the base, you can find the related code in the experiment.txt->real world.

GengYiran commented 5 months ago

the env of real world is here： https://github.com/hyperplane-lab/RLAfford/blob/main/MARL_Module/envs/tasks/franka_cabinet_real_world.py

duidui6666 commented 5 months ago

Thank you very much, I was just looking for it for a while.