Error when training imitation use amp_humanoid_task.yaml

[interestingzhuo]

I have trained the model to tracking a motion sequence with command

python ase/run.py --task HumanoidImitation  --cfg_env ase/data/cfg/humanoid_imitation.yaml --cfg_train ase/data/cfg/train/rlg/amp_humanoid_task.yaml --motion_file xxx --checkpoint output/Humanoid_20-14-34-09/nn/Humanoid.pth

and test with

python ase/run.py --test --task HumanoidImitation --num_envs 1 --cfg_env ase/data/cfg/humanoid_imitation.yaml --cfg_train ase/data/cfg/train/rlg/amp_humanoid_task.yaml --motion_file xxx--checkpoint xxx

The humanoid_imitation.py is changed to track a reference motion. But the robot will jump high at the begining when test.

[interestingzhuo]

https://github.com/nv-tlabs/ASE/assets/43921151/593e08cf-e957-4b77-afb5-a1dea1234a8d

[xbpeng]

Have you tried moving the red sphere to a different location that doesn't intersect with the character? It looks like the jumping is due to an intersection between the sphere and the character.

[interestingzhuo]

https://github.com/nv-tlabs/ASE/assets/43921151/b1068faa-efe8-4e9c-8039-bb22b92d2c6d

I moved the red sphere away from the character but the jumping still exists. I also use the model to imitate some more difficult motion, it works. The imitation of easy motion often fails.

https://github.com/nv-tlabs/ASE/assets/43921151/db63b170-545a-4836-951f-63f3ad42041e

[xbpeng]

mmm that is weird. It's a bit hard to tell in the video, but does the jump happen right at the start of an episode? Does the jump still happen if you just add an offset to the height of the root so the character is off the ground?

[interestingzhuo]

mmm that is weird. It's a bit hard to tell in the video, but does the jump happen right at the start of an episode? Does the jump still happen if you just add an offset to the height of the root so the character is off the ground?

The jump only happens right at the start of an episode. I also try to set the action to a default value([0]*28), The jump still exists. That is weird. But it will go back to imitation after returning to the ground.

[xbpeng]

this looks like an issue with the character having a little bit of ground penetration. Does add an offset to initial height help?

[interestingzhuo]

this looks like an issue with the character having a little bit of ground penetration. Does add an offset to initial height help?

Thx! It works!