Why 18 Action Dimension

[Lixiangqi2002]

Hi,

Thanks for the great work!

Could I access more explanation on the 18 action dims in the cfg file of the diffusion policy? Does that stand for 12 (XHAND) + 6 (UR5 EE)?

[mohitydv09]

Yes it is Robot Arm + Hand DOF. You can change it to match your setup.