Issues encountered during evaluation on Spatial Task_00

[QiuGuangwww]

The instruction for LIBERO Spatial Task_00 is 'pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate' , but in some test samples, the black bowl is not actually located between the plate and the ramekin (as shown in the image), which leads to a lower success rate.The placement in other test samples is correct. An incorrect instruction should not lead to a correct result.

[QiuGuangwww]

I have solved this problem. I was using HuggingFaceVLA's LIBERO, which uses the MuJoCo simulation environment. By default, MuJoCo uses a gravity of -9.8, and LIBERO's initialization involves dropping an object from a certain height onto a table. The high gravity caused excessive bouncing upon impact, resulting in completely incorrect initial positions. I consulted several classmates who were also using the HuggingFaceVLA version of LIBERO, and they experienced the same problem. Through testing, I found that changing the gravity during the initialization phase to -3 solved the issue.