Question regarding training setup

[imankgoyal]

Hello,

Congrats on the nice work. I had a few questions:

• As far I understand, ACT for Aloha was trained for each task separately, but I am unsure about the same for the ACT model in mobile Aloha?

• If a single model is trained for all tasks in mobile Aloha, how does the model now which task to do? Is it just from the starting condition?

• Also, within the same task, are all the subtasks trained together. If so, I was a bit confused how would each subtask accuracy be calculated seperately as done in the paper. As I believe the model takes in continuous stream of input and it would be hard to stop in the middle and start. Maybe I am missing something.

Again congrats on the paper and looking forward to your response.

Best,
Ankit