Generation of cost functions

[twke18]

Hi,

Congrats for the good work! However, I found the released code miss an important component in the paper.

The paper proposes to generate staged cost functions using VLM and Hamster. However, I found that this code base generates cost functions using privileged information return from the simulator (see this line where keypoints are determined by the target object pose.

I'm wondering if this is the exact code base for conducting the experiments shown in the paper.

[wenjw666]

+1 Hamster seems to have no open source so far. How is this job used without open source

[zzj1111]

Hello,

Currently, Hamster has not been open-sourced. Why we could use it is that we co-work with the main author of Hamster team. Relevant code about hamster will be released after the hamster is released.
In practice, one alternative way to use our tpo in Real-World is just considering the reward of "Success or not". Then select successful trajectory as chosen data, failed traj as rejected data.