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peract / peract_colab

Annotated Tutorial for PerAct
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Episode length while extracting observations #1

Closed sriharshakoribille closed 1 year ago

sriharshakoribille commented 1 year ago

Hello Mohit, Amazing work! And thank you so much for organizing this notebook with elaborate descriptions. It was very helpful.

I have a question regarding episode length in the extract_obs function https://github.com/peract/peract_colab/blob/3d1e573aa688e5989a82e3c5ac93d83f0f37accb/rlbench/backend/utils.py#L103

I'm unable to understand why the episode_length here was hardcoded to 10. Is it supposed to be the length of the epsode(which is like 100+ steps)? Can you please elaborate on this?

Thank you

MohitShridhar commented 1 year ago

@sriharshakoribille, ah yes, sorry, I didn't get time to fix this.

episode_length refers to this config parameter, which is the maximum number of actions allowed in each episode during evaluation. You want to keep this number same during both train and test time since the input voxel grid includes a normalized timestep value.

sriharshakoribille commented 1 year ago

Ah okay. Got it. Thanks Mohit!