Code

Aloha handover#29

Code

Merged

copybara-service[bot] merged 5 commits intogoogle-deepmind:maingoogle-deepmind/mujoco_playground:mainfrom Andrew-Luo1:aloha_handoverAndrew-Luo1/mujoco_playground_new:aloha_handoverCopy head branch name to clipboardJan 21, 2025

+388-31

Commits

Commits on Jan 20, 2025

• not stable across seeds

  Andrew-Luo1

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  1dfa589

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• reimplemented rewards to match exact specification

  Andrew-Luo1

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  969eed4

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• works on seed 4 but can fail to learn gripping and maybe too complicated stay-in-place

  Andrew-Luo1

  committed
  4faa55c

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• handover training fast across seeds

  Andrew-Luo1

  committed
  e23e9a7

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Commits on Jan 21, 2025

• Aloha Handover completed. Credit to Guy Lever for the three shaping rewards. Patch franka randomization bug

  Andrew-Luo1

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  fa4e8f1

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