Question About "Lift Cube" Task in ManiSkill2

nicklashansen / tdmpc2

Code for "TD-MPC2: Scalable, Robust World Models for Continuous Control"

https://www.tdmpc2.com

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Question About "Lift Cube" Task in ManiSkill2 #30

Closed TongZhangTHU closed 4 months ago

TongZhangTHU commented 4 months ago

Hi,

Thank you for your wonderful work. I noticed that you use the "Lift Cube" task in ManiSkill2, but I couldn't find any documentation about it in ManiSkill2. Could you please explain the difference between "Lift Cube" and "Pick Cube"?

Thank you!

nicklashansen commented 4 months ago

Glad to hear that you find our work interesting! The two tasks are defined here: https://github.com/haosulab/ManiSkill/blob/v0.5.3/mani_skill2/envs/pick_and_place/pick_cube.py

The main difference is that Pick Cube is goal-conditioned (grasp and move object to target location) whereas Lift Cube is conditioned on object height only.

TongZhangTHU commented 4 months ago

Thank you so much for your kind help!