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pantor / learning-pick-and-place

Self-supervised Learning for Precise Pick-and-place without Object Model
https://pantor.github.io/learning-pick-and-place/
GNU General Public License v3.0
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Training in Simulation? #6

Open TrinhNC opened 2 years ago

TrinhNC commented 2 years ago

Hi, Thank you for sharing the great work. I have an idea of training this in a simulation environment (Isaac Sim) and then transferring it to the real robot. Do you think it is worth a try or it is better to train it directly on the real robot?

pantor commented 2 years ago

Hi @TrinhNC!

It is certainly possible to train this in simulation, with all the usual pros and cons. I think the main limitation would be the grasping itself (in particular in clutter), the place action should be quite agnostic to the sim2real gap.

I would be very happy about any updates on this!