Issues with Rebound and Backspin Using Pre-trained Model

[zhanglbthu]

Hello,
When I use the trained model to reproduce the rebound and backspin action, something goes wrong, like the following:

backspin_gs.mp4

rebound_gs.mp4

Has this happened to any of you, please?
Thank you for your reply.

[zhanglbthu]

Btw, the trained model was downloaded from the official.

[wyhuai]

Btw, the trained model was downloaded from the official.

Hi, these issue happens in this code version. There are mainly two reasons: (1) the reference data is not accurate, especially the "rebound" data; (2) the current code uses the first frame to initialize the env. In our follow-up work, using accurate HOI data and applying random frame initialization can significantly improve imitation performance.