Relative actions do not seem to work. Unable to spot the issue.
Closed this issue · 1 comments
I cannot seem to make the relative actions work. For the same EE trajectory, when absolute actions are given to the environment, everything works as expected but fails when relative actions are given. I have tested it thoroughly and suspect a bug. Despite some debugging, I couldn't pinpoint the problem in the robot.py. Here's an example (note that the same trajectory data was used here):
| Absolute Actions | Relative Actions |
|---|---|
 |
 |
Please use my carefully prepared Google Colab Notebook to reproduce the problem. The notebook needs to be in the root folder of this repository, and it saves two GIFs of the robot in action. No additional installations are required. However, you will need to use my tiny 241KB .npy file with some trajectories (extracted from the CALVIN dataset). You can easily get the file from here. Or you can also get the notebook and the data from the zip file attached.
I am confident that there is no mistake in the way I am feeding the actions to the env. Please let me know if I can help with the reproduction of the issue. If this behaviour is due to a mistake at my end, an explanation would be really helpful. Thanks!
As I debugged more, I realised that the problem could be in the way I am using the prerecorded relative data. The error grows dramatically at each step if the EE is not precisely in the position as in the recorded data. This is why I am closing the issue. :)