Data

Question

Data

SshiJwu opened this issue 9 months ago · 3 comments

I'd like to know how many demonstrations is needed to train a DP3? I collect about 25 demos and try to train a DP3. I found that the loss curve converges in 20 minutes and the loss keep stable in later time. I train about 3000 epochs.

Answer 1 · 2024-03-30T04:13:10.000Z

Hi,
I think that will depend on your task difficulty. What task are you trying?

Generally you could try DP3 with just few demonstrations, such as 10~50

Answer 2 · 2024-03-30T06:17:06.000Z

I want to execute a grasp task. How many epochs do I need to train for 20 demos?

Answer 3 · 2024-03-30T08:25:30.000Z

2000 epochs could be enough