├── .dockerignore ├── .flake8 ├── .gitattributes ├── .gitignore ├── .gitmodules ├── .vscode └── tools │ └── setup_vscode.py ├── LICENCE ├── README.md ├── checkpoints ├── policy_biped_25hz_a.onnx ├── policy_biped_25hz_b.onnx ├── policy_biped_50hz.onnx ├── policy_humanoid.onnx ├── policy_humanoid_legs.onnx └── policy_video.onnx ├── configs ├── policy_biped_25hz_a.yaml ├── policy_biped_25hz_b.yaml ├── policy_biped_50hz.yaml ├── policy_humanoid.yaml ├── policy_humanoid_legs.yaml └── policy_video.yaml ├── docker ├── .env.base ├── Dockerfile └── docker-compose.yaml ├── motor_configuration.json ├── pyproject.toml ├── requirements.txt ├── scripts ├── list_envs.py ├── rsl_rl │ ├── cli_args.py │ ├── play.py │ └── train.py ├── sim2real │ └── visualize.py ├── sim2sim │ └── play_mujoco.py └── teleop │ ├── check_connection.py │ ├── run_idle.py │ ├── run_teleop.py │ ├── test_gripper.py │ └── test_solver.py ├── source └── berkeley_humanoid_lite │ ├── berkeley_humanoid_lite │ ├── __init__.py │ ├── environments │ │ ├── __init__.py │ │ └── mujoco.py │ └── tasks │ │ ├── __init__.py │ │ └── locomotion │ │ ├── __init__.py │ │ └── velocity │ │ ├── __init__.py │ │ ├── config │ │ ├── __init__.py │ │ ├── biped │ │ │ ├── __init__.py │ │ │ ├── agents │ │ │ │ ├── __init__.py │ │ │ │ └── rsl_rl_ppo_cfg.py │ │ │ └── env_cfg.py │ │ └── humanoid │ │ │ ├── __init__.py │ │ │ ├── agents │ │ │ ├── __init__.py │ │ │ └── rsl_rl_ppo_cfg.py │ │ │ └── env_cfg.py │ │ ├── mdp │ │ ├── __init__.py │ │ ├── curriculums.py │ │ ├── events.py │ │ ├── rewards.py │ │ └── terminations.py │ │ └── velocity_env_cfg.py │ └── pyproject.toml └── uv.lock /.dockerignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HybridRobotics/Berkeley-Humanoid-Lite/HEAD/.dockerignore -------------------------------------------------------------------------------- /.flake8: -------------------------------------------------------------------------------- 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