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nickgkan / 3d_diffuser_actor

Code for the paper "3D Diffuser Actor: Policy Diffusion with 3D Scene Representations"
https://3d-diffuser-actor.github.io/
MIT License
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Request for Checkpoint with Trajectory #23

Closed LemonWade closed 2 months ago

LemonWade commented 2 months ago

First of all, thank you for your efforts in developing and sharing this valuable project. It has been very helpful.

I am currently noticed that the available checkpoint seems to be for keypose. I am particularly interested in trajectory.

Would it be possible for you to share a checkpoint about trajectory?

Thank you in advance for considering my request. I look forward to your positive response.

twke18 commented 2 months ago

Hi,

Thanks for your interest! We only train the trajectory model on CALVIN, and here is the link of the model weights.

To test the model, you can try this script

To train your own model, you can run this script

To train 3D Diffuser Actor with trajectory on RLBench, you can run this script. Since sampling-based motion planners (e.g. RRT) work well on the 18 PerAct tasks, we found the performance is similar with/without predicting trajectory.

LemonWade commented 2 months ago

Thank you very much for your response