About collision head

[luxurylf]

Hello, Your work is excellent！I have some questions about the training of collision heads and I need your help。
How is the collision head trained? I see that there are three collision loss functions provided, which one is correct? Also, is the actual collision value ‘gt’? I don't see that the dataloader provides the actual collision value?

[FaizalKarim280280]

The collision head was trained using a curated set of colliding and non-colliding grasps generated for each object. We trained this classifier using the normal BCE loss while freezing all other components of the model. This ensures that the base generative process remained unaffected.

We used a separate dataloader that only loads labeled colliding and non-colliding grasps. For your use case, a similar setup can be created by using the DG16M dataset and generating colliding examples via random perturbations of the ground-truth grasps.