4 ms·
That's not the reason, Pi0 was basically predicting at 10hz and predicting a temporal chunk up to 50 points so it could go up to 500Hz. It's slow because the o
by davidguetta 1y ago
That's not the reason, Pi0 was basically predicting at 10hz and predicting a temporal chunk up to 50 points so it could go up to 500Hz.
It's slow because the original telop is slow, and the learned controllers through imitation learning is always a bit slower.
Source : i work on this (not at PI)
- cloudbonsai 1y agoAnother practical reason is that it's dangerous. Pi0 uses ARX robot arm which weights 3-4kg per arm. It can easily break things or harm people if you allow it to move fast.
- davidguetta 1y agoNot really if you clamp the torque aggressively. But yeah in general the physical world is more dangerous than we tend to think