Stone Tao

We can add back a DAPG baseline but it might take some time. We are currently prioritizing adding a [RLPD](https://github.com/ikostrikov/rlpd) baseline and have already added the [RFCL](https://github.com/StoneT2000/rfcl) baseline which are...

The RLPD baseline has been added in the latest git commit of this repo. It is quite sample efficient (when given sufficient, not too multi-modal, demonstrations). Might struggle more than...

Hi, could you elaborate a bit more about what you are trying to do? What do you mean by incorporating those two modes? And can you post the full commands...

Oh I see. I think you shouldn't need to set the frame to be in the base frame. The default arm_pd_ee_pose controller doesn't set frame='base' either. Try that and see...

You shouldn't need use delta pose. I think you code is fine, but our replay trajectory tool isn't general enough. It seems the code is trying to use the wrong...

Hi @TongZhangTHU sorry for the late reply. the general approach for converting actions is always to write code to somehow generate actions that move the robots joints/end-effector pose to the...

Could you share a script to reproduce this? I will also note that we run by default 5 physics steps for every 1 control step with a sim freq of...

Hi @zqy-an is this still an issue?

See the replay trajectory tool under mani_skill/trajectory/replay_trajectory.py for how we convert action spaces.

Most likely a rendering related issue. Can you first follow the troubleshooting guide here? https://maniskill.readthedocs.io/en/latest/user_guide/getting_started/installation.html#vulkan and share the output of vulkaninfo