Questions about online learning

[wxz1996]

Thank you for your amazing work！I was very inspired after read the code, but also had a questions：

1. for contact-rich tasks, zero-shot synthesized trajectories by VoxPoser is not enough，you say y used a MLP for this task，but I don't see this part of the code in the repository。Do you have any plans for open source this part? or is there a reference to this part? I'm not very familiar with this part，especially “online interactions” 。How can this trajectory be optimized in the forward propagation and backpropagation of MLP？