When deploying on a real device, there is a probability that the action will fluctuate greatly.

[handsomehhh]

Hi, I encountered a problem when deploying to a real machine:

I wrote a sim2sim code (still in Mujoco, but simplified to match the unitree deployment style), and it seemed to work fine.

Then I wrote the 2real deployment code, and a problem arose: when I played the subject1_dance1 motion, the action occasionally fluctuated during the first 200 frames or so (when the robot was in a T-pose). When the robot began to move backward, the joints jittered a lot.

I printed out the action line graphs in mujoco and on a real device, and found that the action on the real device kept fluctuating around 0. I'd like to ask if you've encountered similar issues during deployment.

Thank you

Here are two plots, which the y-axis is the action output and x-axis is the frame number (with wrong name on plot)

real:

mujoco

[ericQiang]

can you guide me, how to deploy this project to real world when mine is not unitree G1 or anyother in mocap data?? thanks a lot.