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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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Gripper openness in observation #57

Closed chereddy closed 1 week ago

chereddy commented 1 week ago

Hi,

I saw that the gripper history does not include gripper openness, but instead just includes position and rotation. Is there a reason for this?

curr_gripper = curr_gripper[..., :7]

nickgkan commented 1 week ago

Hi,

No, this is not something we ablated. In fact, the rotation information is also not used in the encoding of the current gripper. This may or may not be suboptimal, but we haven't experimented much.