Can I use 6DOF cobot for droid dataset?

[liops-heejoon]

As franka cobot price doubled, I bought another robot arm which is 6DOF.

At a glance, it appears that 7 joint position information is used only in the replay process,
but I think the information used in the deep learning model has nothing to do with 7DOF.
I'm curious about your opinions.

[kpertsch]

We see lots of evidence that co-training with diverse embodiments is indeed possible, and if you collect a dataset for your robot arm and mix it with the DROID dataset, chances are you will see some transfer (ie your robot policies will work better / more robustly than when only training on the data from your robot).
However, what I would not expect to work is to use the policy trained on DROID directly on your robot, without collecting any data for your robot.