hshi74 / robocook Goto Github PK

Hello, Thanks for your great work.
I followed the instructions to activate the environment. But when I ran the .sh file, e.g. "bash scripts/perception/perception.sh", there was an error "ModuleNotFoundError: No module named 'rosbag'". And I didn't see the rosbag in the environment.yml.

I tried some ways to install the rosbag and ros_numpy packages, but all my attempts failed. Could you please tell me what the correct way to install these two packages?

Hi Haochen,

Thank you for open-sourcing your work. I have a question regarding the memory input to the DynamicsPredictor. This memory is treated as the attribute of each particle. However, it seems that during training, this memory is always a zero tensor. Could you please explain the intended purpose and functionality of this memory input?

Thank you very much in advance!

Thank you for open-sourcing this great work! I would like to ask you about the role of the GNN-based dynamics model outlined in your paper.

In the paper's introduction, you mentioned "we combine a PointNet-based tool classification module with learned dynamics models to determine the most appropriate tool to use at the current task stage", while in Section 6.1, it appears that both the Tool Predictor and Policy Network operate based on the defined target or sub-target point clouds, rather than on predictions from the dynamics model. Thus, I'm a little bit confused about the usage of this GNN-based dynamics model during deployment and wonder if I might have misunderstood the implementation details.

I appreciate your precious time and assistance in clarifying this!

Hello Haochen,
Firstly, thank you very much for contributing such interesting work to the community. I am working on a paper on robot learning in the kitchen domain, and I found the tools that you designed for the robot being very useful. We want to use a similar tool design as yours in our paper. However, I could only find the 3D model of 8 of the 15 tools of your paper. Additionally, the holder part of the rollers and pressing tools do not present in the stl files. I wonder if it is possible for you to also open source those 3D models.

Your help is much appreciated!

Hello, would you mind adding a license to this project?

Thank you!