Some questions about implementing ASI

[PeterWangyi]

Some questions about implementing ASI

[xbpeng]

If the initial state distribution is implemented as gaussian distributions at different phases of the motion, then to get the initial pose at a particular phase, you can just sample from the gaussian. Is your question about how to sample from the gaussians?

Yes, it's expected that set pose is called multiple times. Since each scene inherits methods from its parents, some of the parent reset method might also try to set the pose to something different.

[PeterWangyi]

thank you for your reply
Regarding the first question: maybe my understanding of the Gaussian distribution is somewhat lacking? I observed that both setpose and setvel pass in 43-dimensional vectors, that is, I should pass in 86-dimensional vectors during initialization.

So this 86-dimensional vector is the result of sampling from the initial state distribution? If so, should the distribution on each phase be modeled as an 86-dimensional Gaussian distribution, with each dimension being independent? The output of the network is the mean value of the distribution under the current phase, which is also an 86-dimensional "mu". Combined with a covariance diagonal matrix I set, can the state (pose + vel) required by ASI be sampled directly from here?

If there are 50 phases, will this initial state distribution have 50 * 86 independent Gaussian distributions? I don’t know if my understanding is correct. . .

Sorry for writing so much. . Might be complicated to read, thanks for your patience!

[xbpeng]

Yes, your understanding is correct. If you have 50 phases, then this can be modeled as 50 * 86 independent gaussian distributions.