About Hindsight Goals For Fine-tuning on Unknown Objects

[chenjy2003]

Hi Liruiw:
I noticed that in your paper, you used hindsight goals for fine-tuning on unknown objects, e.g., YCB objects, and improved the success rate from 88.2% to 93.5% on the YCB testing dataset. I'm quite interested in this method, but I didn't find its implementation in this repository. Could you please show me where it is? Thanks!

[liruiw]

This function should be it. Essentially we compute the goal as the transformation from the current pose to the pose at the last timestep.