René's URL Explorer Experiment

{"@context":"https://schema.org","@type":"DiscussionForumPosting","headline":"How to train \u003ctask-name\u003e-real?","articleBody":"Thank you for open-sourcing such an amazing project! While attempting to reproduce the code, I encountered a few issues and would appreciate your clarification:\n\n1. During the training of pick-real, the environment does not initialize a table, causing the target object to fall directly to the ground. This makes it impossible for the robot to grasp the object. Is this a bug or an intentional training feature?\n\n2. In pick-real, the observation is 100-dimensional, with rel_pose_object comprising 7 dimensions (3 for position and 4 for quaternion orientation). However, in the MuJoCo environment, the observation is 96-dimensional, and rel_pose_object only includes 3 dimensions (position, without orientation). This discrepancy prevents the weights trained in pick-real from running in MuJoCo. Is this intentional, or is there an updated version of pick-real? Additionally, the deploy_pick script in MuJoCo also encounters the issue of objects falling, making grasping impossible.\n\n3. In motion_lib, when loading reference motion data, a motion_offset is used to define a positional bias. Specifically, the x-axis of the grasping position is set to 2.1. Does this mean the robot can only grasp objects at x = 2.1, or is there another reason for this value? Given that pick-real currently does not train correctly, this is quite confusing.\n\n4. The paper and code do not clearly explain how the robot generalizes to grasping objects at positions different from the reference motion. Could you provide some insights or demos on this?\n\n5. The project includes HumanoidVerse, and the demo interface also shows some demos from HumanoidVerse. However, the README file does not cover how to reproduce or use these parts. Could you please make these methods publicly available?\n\nThanks for sharing this great project. Merry Christmas! Bese wishes.","author":{"url":"https://github.com/shaosb","@type":"Person","name":"shaosb"},"datePublished":"2025-12-24T16:56:55.000Z","interactionStatistic":{"@type":"InteractionCounter","interactionType":"https://schema.org/CommentAction","userInteractionCount":3},"url":"https://github.com/3/DreamControl/issues/3"}