Right now we rely on the out-of-the-box Hello Robots controller [0] implementing position control. Since our policy only predicts a single position into the future at a time, the motion ends up being either jerky and fast, or smooth and slow. Improving on the controller is probably one of the highest ROI improvements we can make moving into the future.
Right now we rely on the out-of-the-box Hello Robots controller [0] implementing position control. Since our policy only predicts a single position into the future at a time, the motion ends up being either jerky and fast, or smooth and slow. Improving on the controller is probably one of the highest ROI improvements we can make moving into the future.
[0] https://github.com/hello-robot/stretch_body