question about the use_motion_hand_actions param

[Hy0uryu]

I noticed that the use_motion_hand_actions parameter is configured differently in the pnp_ground and pnp_table scenes.

Could you please explain the reason behind this difference? Is there any limitation or design consideration that prevents enabling use_motion_hand_actions=True when training the pnp_table scene?

I am interested in training pnp_table with infered hand actions from the released checkpoint and would like to know whether this setting is supported.

[Khrylx]

Hi, the training should work for both use_motion_hand_actions=True/False. With use_motion_hand_actions=True, the pickup motion will adhere to the reference motion more and produce more careful pickup motions. For False, the RL training can become easier since exact grasp timing can be adjusted.