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Home Page: https://clvrai.com/mopa-pd
License: MIT License
Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation (CoRL 2021)
Home Page: https://clvrai.com/mopa-pd
License: MIT License
Hi!
I was trying to go through the training process with SawyerPushObstacle-v0
. I met the keyword error when the following line is executed
mopa-pd/rl/behavioral_cloning_visual.py
Line 367 in ac55f56
where the step
function in BaseEnv
has no is_bc_policy
keyword.
Line 264 in ac55f56
Or, the _step
method should be called here?
mopa-pd/env/sawyer/sawyer_push_obstacle.py
Line 192 in ac55f56
Looking forward to your reply, thanks.
Hi,
I have some problems about the performance in the paper.
In [Table 1], which methods were trained with MoPA-RL trajectories?
I have seen that MoPA-RL trajectories were used by BC-Visual and Ours.
Can u explain the training data for each methods, i.e., Asym. SAC | MoPA-Asym. SAC | CoL | CoL w/ BC smoothing | Ours w/o BC smoothing?
I am confused that why [CoL w/ BC smoothing] cannot perform well if it was also trained with MoPA-RL trajectories and BC smoothing, just as your method MoRL-PD?
Thanks for your any reply.
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