Hello, dear.

Thank you for your work.

I have already run your codes (Pacer and Trace).
However, I got the TRACE Qualitative Results when running Trace:

python scripts/scene_editor.py --results_root_dir ./out/nusc_eth_ucy_mixed_out --num_scenes_per_batch 1 --policy_ckpt_dir ./ckpt/trace/nusc_eth_ucy_mixed --policy_ckpt_key iter40000 --eval_class Diffuser --render --config_file ./configs/eval/nusc/target_pos_perturb.json and

python scripts/scene_editor.py --results_root_dir ./out/orca_mixed_out --num_scenes_per_batch 1 --policy_ckpt_dir ./ckpt/trace/orca_mixed --policy_ckpt_key iter40000 --eval_class Diffuser --render_img --config_file ./configs/eval/orca/target_pos.json

Also, when I run the Pacer code using:

Model with terrain + trajectory following

python pacer/run.py --task HumanoidPedestrianTerrain --cfg_env pacer/data/cfg/pacer_no_shape.yaml --cfg_train pacer/data/cfg/train/rlg/amp_humanoid_smpl_sept_task.yaml --motion_file sample_data/amass_isaac_standing_upright_slim.pkl --network_path output/release/pacer_no_shape --test --num_envs 1 --epoch -1 --small_terrain --no_virtual_display

Model with terrain + trajectory following + shape
python pacer/run.py --task HumanoidPedestrianTerrain --cfg_env pacer/data/cfg/pacer.yaml --cfg_train pacer/data/cfg/train/rlg/amp_humanoid_smpl_sept_task.yaml --motion_file sample_data/amass_isaac_standing_upright_slim.pkl --network_path output/release/pacer --test --num_envs 1 --epoch -1 --small_terrain --no_virtual_display

Model with terrain + trajectory following + shape + group
python pacer/run.py --task HumanoidPedestrianTerrain --cfg_env pacer/data/cfg/pacer_group_cnn.yaml --cfg_train pacer/data/cfg/train/rlg/amp_humanoid_smpl_cnn_task.yaml --motion_file sample_data/amass_isaac_standing_upright_slim.pkl --network_path output/release/pacer_group_cnn --test --num_envs 1 --epoch -1 --small_terrain --no_virtual_display

Model with terrain + trajectory following + shape + getup
python pacer/run.py --task HumanoidPedestrianTerrain --cfg_env pacer/data/cfg/pacer_getup.yaml --cfg_train pacer/data/cfg/train/rlg/amp_humanoid_smpl_sept_task.yaml --motion_file sample_data/amass_isaac_standing_upright_slim.pkl --network_path output/release/pacer_getup --test --num_envs 1 --epoch -1 --small_terrain --no_virtual_display
`
I only have one person in Terrains.

Please your help.