How dd you evaluate the performance of pip without physics-based optimizer

[drlxj]

Hi,

I want to evaluate performance without the physics-based optimizer, particularly to assess its impact on positional accuracy. Thus, in your code, I replace pose_opt with the pose variable calculated in line 93, but couldn't find the replacement for tran_opt. Could you provide more details on the implementation of the ablation study? Thanks.

[Xinyu-Yi]

Yes, you can directly use "pose" to replace "pose_opt". But the network did not estimate translation, so there is nothing you can replace "tran_opt" with. If you want an approximate estimation, you may integrate the "joint_velocity" and discard all non-root joints' velocity. But that will lead to significant foot sliding as physics is not applied.

[Xinyu-Yi]

The translation is calculated in the physics module by leveraging all joints' velocity, contacts, pose, and physics.