I just wanted to understand how The Franka Kitchen dataset was generated. The original dataset was introduced in the Relay Policy Learning paper, but if I parse the raw .mjl files I get 605 trajectories instead of the 566 in your dataset. Also, I would like to know if the dataset used respects physics (i.e the action were re-simulated in using the MuJoCo environment) or you simply used the raw trajectories. Unfortunately I didn't find the code for that here or in the BeT paper.
Hi, thanks for the great work!
I just wanted to understand how The Franka Kitchen dataset was generated. The original dataset was introduced in the Relay Policy Learning paper, but if I parse the raw .mjl files I get 605 trajectories instead of the 566 in your dataset. Also, I would like to know if the dataset used respects physics (i.e the action were re-simulated in using the MuJoCo environment) or you simply used the raw trajectories. Unfortunately I didn't find the code for that here or in the BeT paper.
Thanks in advance!