state keys understand
#2
by zywang03 - opened
why the state dimension is 9？
Check out here https://github.com/openvla/openvla/blob/c8f03f48af692657d3060c19588038c7220e9af9/experiments/robot/libero/regenerate_libero_dataset.py#L154
It's a typical choice for the LIBERO benchmark to use gripper qpos (2) + eef pos (3) + eef quat (4) as the states.
ZibinDong changed discussion status to closed