robot action coordinates

[Todibo99]

Hi, thanks for this inspiring work !!!
I just want to know when training the action prediction, did you unify the coordinate systems for different datasets from openx?

Thanks!

[anyeZHY]

We haven't unified all the coordinate systems, but instead, we only normalized them like OpenX.

We spent a lot of resources initially trying to align their action spaces. But because we lack camera calibration, robot arm position, etc., we couldn't get correct transformations. The work at https://extreme-cross-embodiment.github.io simply attempts to make action sequences from different datasets consistent by flipping the x/y/z axes, but this still fails to align the coordinates.