I was looking into the code and realized that GetState() outputs COM position, velocity and gait phase. This is then used as input during NN training in main.py.
However, Fig. 5 in the paper indicates reference motion as input, which is not the case in the code.
Is it the case that the figure does not represent actual inputs to the network, instead it just represents the components used in the trajectory mimicking phase (reference motion is integral part of reward function) ?
Hi,
I was looking into the code and realized that GetState() outputs COM position, velocity and gait phase. This is then used as input during NN training in main.py.
However, Fig. 5 in the paper indicates reference motion as input, which is not the case in the code.
Is it the case that the figure does not represent actual inputs to the network, instead it just represents the components used in the trajectory mimicking phase (reference motion is integral part of reward function) ?
Can you please help clarify ?
Thanks, Chinmay Swami