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Every 1-2 months, "QT-Opt grasping" paper authors receive an email asking about implementation details of the convnet. Took awhile, but we finally got around to open-sourcing the QT-Opt model as a Tensor2Robot model.https://github.com/google-research/tensor2robot/tree/master/research/qtopt …
U may wonder why defining a single net requires so many abstractions (GraspingModel, LegacyGraspingModelWrapper, CriticModel, blah blah). This is because the QT-Opt system has been continuously refactored & adapted to a large team's needs for 5 years 
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