Inquiry Regarding the Missing Dynamic Radius Schedule Implementation

[yangzhenshuo]

I have been reviewing the provided code for the project, and I came across a question regarding the Dynamic Radius Schedule (DRS) that was mentioned in the article. However, I was unable to find any reference to its implementation within the code provided. Could you kindly clarify whether the Dynamic Radius Schedule was omitted from the submission, or if it is implemented in a different section of the code that I may have overlooked?
Thank you for your time and help, and I look forward to your response.

[SanMumumu]

We sincerely apologize for the oversight in our previous submission. The implementation of the Dynamic Radius Schedule (DRS) was indeed missing from the original code. We have now added the corresponding implementation in diffuser_actor/utils/tools/point_utils.py.

In brief, the DRS works as follows:

• For the diffusion process, we take the noise-perturbed points as the centers, use sqrt_alpha as the radius, and apply masking to the point cloud accordingly.
• For the flow matching setting, the centers are defined along the flow-matching trajectories, while the radius is dynamically controlled by the time step t.

This design enables adaptive radius adjustment at different time steps, thereby better capturing the dynamic spatial characteristics of the point cloud. We sincerely apologize for any inconvenience caused by this omission and appreciate your understanding.

[leyuan-sun]

Can currently provide scripts train from scrach?? I know the pre-trained model has not provided yet @yangzhenshuo @SanMumumu