Hello, I'm curious about the std processing in your Dataset. I found u divide root rot velocity, root linear velocity,root y and foot contact by 25 in your implementation. Could you tell me the motivation of doing it? Are there any reason to determine the feat_bias?
# root_rot_velocity (B, seq_len, 1)
std[0:1] = std[0:1] / FEAT_BIAS
# root_linear_velocity (B, seq_len, 2)
std[1:3] = std[1:3] / FEAT_BIAS
# root_y (B, seq_len, 1)
std[3:4] = std[3:4] / FEAT_BIAS
# foot contact (B, seq_len, 4)
std[4 + (JOINTS_NUM - 1) * 9 + JOINTS_NUM * 3:] = std[
4 + (JOINTS_NUM - 1) * 9 + JOINTS_NUM * 3:] / FEAT_BIAS
Hello, I'm curious about the std processing in your Dataset. I found u divide root rot velocity, root linear velocity,root y and foot contact by 25 in your implementation. Could you tell me the motivation of doing it? Are there any reason to determine the feat_bias?