Replay Trajectory

[QuanyiLi]

Hi @xuanlinli17

Thank you very much for this great work!

I wonder how close the scenes you built is agains its real-world counterpart used to collect demonstrations. One way to test it, I think, is to replay trajectories collected from the real-world and replay them in the scene you have built. Have you done this before? Or what do you think is the best practice to find the training data from the Open-X and replay them by myself?

[xuanlinli17]

Hi,

The simulation controllers' parameters are sys-ided from the corresponding trajectories in the OpenX dataset (by replaying them in simulation). Please checkout the system identification section in readme. Also sysid assumes free-space arm movement without robot-object contact.