How can I reproduce the zero-shot objective control example shown in the paper

[zhangdude]

Could you provide the specific code for the zero-shot control case in which the figure bent down to avoid the cylinder? I wasn’t able to reproduce it. Thanks!

[sudarshan-s-harithas]

Great work, thanks for releasing your codebase.
Could you please provide the code for the zero-shot objective.

[exitudio]

Thank you for your interest.
I added obstacle avoidance examples. You can use this script to generate.

conda activate ControlMM
python -m generation.avoidance2 --path_name ./output/avoidance2 --iter_each 100 --iter_last 600

Note that obstacle avoidance uses zero-shot objective.