while performing sim to real with black cloth table

[prathamv0811]

did you use any white light for consistent environment , i previously while testing vla models built an isolated env using foam boards and made sure nothing unwanted is present while running inference , can i also use the same thing while doing sim to real .

[aalmuzairee]

Hi @prathamv0811, we didn't use any white light, just normal room lighting. You can see our exact setup in the visual section on the project site (https://aalmuzairee.github.io/squint/). You can change your simulation setup however you like to match your real world setup as close as possible.

One thing to note, is that you might have to also make the wall behind the robot to have the same color as the table, as there are some angles where the robot can see part of the wall behind it, and that could mess it up its inference.