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scenediffuser / Scene-Diffuser

Official implementation of CVPR23 paper "Diffusion-based Generation, Optimization, and Planning in 3D Scenes"
https://scenediffuser.github.io/
MIT License
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Questions about hyperparameters in class MultiDexShadowHandUR #23

Open RfirstAlpha opened 4 days ago

RfirstAlpha commented 4 days ago

Hi,

Thanks for your excellent work! I have a question about the MultiDexShadowHandUR class in multidex_shadowhand_ur.py. Specifically, the _global_trans_lower and _global_trans_upper attributes are used as hyperparameters to normalize global translations.

Could you please explain how the values for these two parameters were determined? Were they calculated based on specific data, derived from experiments, or set using another method?

I appreciate your time and look forward to your reply. thank you.

Xiaoyao-Li commented 3 days ago

If I remember correctly, these values are statistics from MultiDex[1], intented to normalize the data when training the model. However, since quite some time ago, I could not locate where the use of _global_trans_lower and _upper. Could you point me the exact code snippet?

[1] Li, Puhao, et al. "Gendexgrasp: Generalizable dexterous grasping." 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023. Code is available at https://github.com/tengyu-liu/GenDexGrasp.