Issues with DP3 Task Reproduction using HumanoidGen: Unnatural Shaking/Trembling and Inaccurate Grasping of Small Objects

[appprovider]

During my attempt to reproduce the DP3 tasks using HumanoidGen, I encountered the following two issues:

1. Unnatural Shaking/Trembling Leading to Object Dropping:​

The robot exhibits unnatural shaking and trembling during task execution, which frequently causes it to drop objects. This shaking often manifests as oscillatory movements back and forth along the intended trajectory. I have thoroughly investigated but haven't found a solution.

2. Inability to Accurately Grasp Small Cubic Objects:​

The model struggles to reliably grasp small cube-shaped objects. The expert demonstrations perform this task smoothly and successfully. I attempted to address this by increasing the point cloud sampling scale in the configuration (from 1048 to 4096 points). However, the robot's fingers still tend to pinch adjacent faces of the cube rather than the intended opposite faces, ultimately leading to the object slipping away.

For both scenarios, the provided expert actions demonstrate smooth and fluent task completion, suggesting the issues lie with the policy learning or execution rather than the task definition itself.

blocks_stack_easy_20251129_074609.mp4

block_handover_20251129_080206.mp4

dual_bottles_pick_hard_20251127_124418.mp4

[appprovider]

https://github.com/user-attachments/assets/5e32439c-cb63-46a9-9b76-c199a7b24f98
Grasp Small Cubic Objects

[LZH-97]

I've also encountered a similar jitter issue, which is likely due to a misalignment between the inference frequency and the simulation execution frequency.