At https://github.com/HenryHuYu/DiffPhysDrone/blob/master/main_cuda.py#L213 it should be args.coef_ground_affinity * loss_ground_affinity instead of args.coef_ground_affinity + loss_ground_affinity.
You are currently adding ground affinity loss at a high weight due to this typo.
At https://github.com/HenryHuYu/DiffPhysDrone/blob/master/main_cuda.py#L213 it should be
args.coef_ground_affinity * loss_ground_affinityinstead ofargs.coef_ground_affinity + loss_ground_affinity.You are currently adding ground affinity loss at a high weight due to this typo.