Comments (4)
Hi! Thanks for your attention! Yes, for each iteration, the pose is optimized from the init pose instead of the result of last iteration. We find the latter one gives a lower performance since the rendering based optimization is highly non-convex problem and thus leading to local optim. Optimizing from the init pose gives a higher probability to converge to the correct global optim.
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I got it! Thanks for your quick reply!
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Hello again! I am a member from the Robotflow AI team from SJTU. My supervisor is Cewu Lu. I recently adapted your code to the Franka robot in our lab while maintaining the Xarm part and found the result to be very accurate. So, are you interested in a PR maybe?
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Nice! Please add my WeChat clhfsky. I would also like to discuss with you about releasing models trained on other robots!
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