Request: How to perform inference in simulation to verify the effectiveness of the dataset?
Key Issues to be Resolved
1 The dataset contains a wide variety of objects and diverse operations. It is difficult to define clear evaluation criteria for model performance?
2 The simulation environment corresponding to the dataset is hard to reconstruct accurately.
3 The camera model and gripper model used in the dataset are not provided, which are required for simulation inference.
4 The parameters of the fisheye camera in the dataset are not provided, which are necessary for simulation inference.
Looking forward to official guidance on simulation inference pipeline and required configuration details to validate the dataset.
Thank you very much for your interest:
- Currently, we mainly provide real-world data and trajectory ground truth; we do not yet include data + benchmark.
- Most of our existing users and related users are replaying on real devices, not in a simulation environment, so we cannot provide a simulation environment at this time.
- The camera model is a KB4 model; the gripper's URDF will be updated in the documentation.
- The parameters of the fisheye camera can be read from the CameraCalibration type results for each data point; I will also add this to the documentation.
Thank you very much for your feedback and suggestions on our dataset. We will optimize it as soon as possible.
Thank you for your previous reply! I have a few follow-up questions:
In the original UMI setup, it is mentioned that at least around 200 demonstrations per scene are required for effective training. However, in our dataset, each scene (and each container instance) only has about 20 demonstrations. Would this significantly affect the training performance or final results?
If I train a diffusion policy in a simulation environment that contains only a single robotic arm placed on a blank table (i.e., a very simple scene), do you think the learned policy would still work reliably in simulation?
You also mentioned the gripper URDF and the fisheye camera distortion parameters. Could you please let me know where these files can be downloaded?
Thank you very much for your help!