Is provided code for Lotus-ft or Lotus? And what is "single_mt_policy_libero_object.sh" for?

[pengzhi1998]

Dear Weikang @wkwan7,

Thank you so much for open-sourcing the code for this amazing project! I truly appreciate your work.

1. I'm trying to run the repository following the README, specifically using the skill_policy_libero_object.sh script provided here: https://github.com/UT-Austin-RPL/Lotus/blob/master/scripts/training/skill_policy_libero_object.sh
   However, it seems that the default implementation is on Lotus-ft? I was wondering if experience replay is implemented in this workflow?
2. Besides, I found that there are no specific differences between #ER and #FT within this sh script: https://github.com/UT-Austin-RPL/Lotus/blob/master/scripts/training/single_mt_policy_libero_object.sh (besides the names for the saved models). Are they provided to run pure experience replay method and sequential learning respectively?

Sorry for any inconvenience and for bothering you with this question. Thank you in advance for your help, and I look forward to your reply!!

Best regards,
Pengzhi