numerical instabilities & occlusion

[mockup-partner]

Hi

Thanks for your amazing work. Arteq is able to really provide quickly better performance compared to other baselines. I had two questions related to your repo.

I noticed that in your training script you manually set to zero any gradient that would be nan and indeed some nans occur time to time during training. Do you have any ideas where they could from ?

Also on a side note, after some experiment and training, I observed that arteq seems to work even on partial point clouds (for example front view like depth map from stereo images) but struggles more when it comes to a complete temporary occlusion for example an obstacle hiding the whole elbows. Do you have any suggestions at training time as how to improve its performance in this kind of situation ? For example would conditioning pose estimation to its parent but also grand-parent or even child make sense ?

Thanks in advance and again congratulation for your great work.