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ZhengyiLuo / PULSE

Official Implementation of the ICLR 2024 spotlight paper: Universal Humanoid Motion Representations for Physics-Based Control
https://www.zhengyiluo.com/PULSE
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Question about the regulerlization term. #2

Closed LinghaoChan closed 3 months ago

LinghaoChan commented 4 months ago

Hi @ZhengyiLuo , I have a question about the vae distillation. I notice there exist a term of ar1_prior here. I checked the original paper from Josh Merel. To my own understanding, this term aims to make neighbors' actions similar. Is it right? I am a bit confused about the term of kin_dict['progress_buf']. What does it refer to and when is it assigned values?

If you could provide any guides, I would appreciate it! (^_^)

Thanks.

Evan

ZhengyiLuo commented 3 months ago

The progress_buf is the time step for the episode; it provides the information if the actions are taken as neighbor of each other.