max and min value of action
#4
by
lzl204086
- opened
I found that the max and min value of action is closed to 1 and -1. This is not normal.
What do you mean by ‘not normal’?”
The range of action[0:6] is not changed, see droid_baseact_transform for details.
What I mean is that all the values of the action are constrained between -1 and 1, which seems abnormal. If the change in radians is close to 1, that would correspond to a large angle. Is this the problem of the droid?
You could check the script yourself. NO changes in action[0:6]
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So have your checked the official droid dataset to see whether the action representation is cartesian_velocity ?
Double checked:
- official dataset: eef vel (https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/controllers/oculus_controller.py#L170)
- openx rlds dataset: eef position (https://docs.google.com/spreadsheets/d/1rPBD77tk60AEIGZrGSODwyyzs5FgCU9Uz3h-3_t2A9g/edit?gid=0#gid=0)
- lerobot dataset: same as 2.