Number of key-frames

[kovanic]

Hi! Thank you for an interesting work. I'm trying to train RVT on real data. Could you please tell how much key-frames were collected for a real episode on average?

[Ankit Goyal]

Hi @kovanic,

Thanks for your interest in RVT. So for real data, we collected 51 training demos and around 4-5 keyframes per demo.

Also, since you are training on the real data, it would be helpful to record the RGB-D stream from the camera
during the robot’s motion to the targets. We also use the intermediate frames while learning. That is given an intermediate frame, predict the next keypooint.

[kovanic]

Thank you for your response!