about physical optimization

[Dong09]

hello,thank you for your work first. I'm new to this. i got itr6000 pkl directly using helix5 training commands in the script , and i'm wondering how i can physically optimize my own wild video. i would appreciate your reply.

[Garfield-kh]

Hi, thank you for the interet.
The way to apply physical optimization is:
Step 1: Do pose estimation by using the estimator.
Step 2: Convert the estimated pose from wpos (world 3D position) to qpos (axis-angle)
Step 3: Using the imitator to fit the qpos.
Once the imiator loss is low, you have done the potimization.