How to reset goals when picking or pushing objects

[gautica]

Hi, thanks for the interesting work. I am not sure how you set the goal for the pickup or pushing task, because the goal is the position of the object. As I understand, the goal of all the failure trials before touching the object is set to be the same object position, as it doesn't move. But it doesn't sound very correct to me. Is it set in this way? Thank you very much

[TianhongDai]

@gautica In goal-oriented DRL, we have two types of goals: {"achieved goals", "desired goal"}. In "PickAndPlace" and "Pushing" tasks, the desired goal position is the final goal position, which is indicated by the red spot in demo GIF. At the beginning of each episode, the desired goal is randomly sampled from the pre-defined goal space; The achieved goal is the position of the object (the cube in these two tasks.). The aim of these tasks is to control the robotic arm to manipulate the object close to the desired goal position (i.e. dist(achieved goal, desired goal) < threshold). Hope this answer helps you.