Training recipe for Franka Panda

[a-mos]

Thanks for the great work! I'm trying to train a drrobot for Franka-Panda using default parameters (2000 canonical iterations and 15000 poses conditioned), but I'm having huge problems rendering the gripper — in some train launches the upper part of the arm is completely missing. Can you, please, share the trained model for Franka-Panda, or advise training parameters to get better rendering quality.

Thanks!

[alpercanberk]

Hi @a-mos,

Thank you for your interest in our project. We are aware of this problem with Panda, which came about while refactoring the code. Unfortunately, I don't have access to my old work station anymore so I can't go in and debug, but I can offer an initial suggestion:

I suspect that this problem is caused by the camera intersecting with the robot during data generation. While these samples are few, they disrupt the optimization in my experience. Could you generate a dataset where the camera is always far from the robot? I think that this should work, but the small details might be off. In this case, you may try tuning the distance or implementing a mechanism to prevent camera+robot collisions.