├── .gitignore ├── LICENSE ├── README.md ├── assets ├── gif │ └── teaser.gif └── mujoco_models │ ├── common │ ├── field.png │ ├── grass.png │ ├── materials.xml │ ├── sky1.png │ └── skybox.xml │ ├── geom │ ├── Chest.stl │ ├── Head.stl │ ├── Hips.stl │ ├── L_Ankle.stl │ ├── L_Elbow.stl │ ├── L_Hand.stl │ ├── L_Hip.stl │ ├── L_Knee.stl │ ├── L_Shoulder.stl │ ├── L_Thorax.stl │ ├── L_Toe.stl │ ├── L_Wrist.stl │ ├── LeftArm.stl │ ├── LeftChest.stl │ ├── LeftFoot.stl │ ├── LeftHand.stl │ ├── LeftLeg.stl │ ├── LeftShoulder.stl │ ├── LeftToe.stl │ ├── LeftUpLeg.stl │ ├── LeftWrist.stl │ ├── Mouth.stl │ ├── Neck.stl │ ├── Pelvis.stl │ ├── R_Ankle.stl │ ├── R_Elbow.stl │ ├── R_Hand.stl │ ├── R_Hip.stl │ ├── R_Knee.stl │ ├── R_Shoulder.stl │ ├── R_Thorax.stl │ ├── R_Toe.stl │ ├── R_Wrist.stl │ ├── RightArm.stl │ ├── RightChest.stl │ ├── RightFoot.stl │ ├── RightHand.stl │ ├── RightLeg.stl │ ├── RightShoulder.stl │ ├── RightToe.stl │ ├── RightUpLeg.stl │ ├── RightWrist.stl │ ├── Spine.stl │ ├── Spine1.stl │ ├── Spine2.stl │ └── Torso.stl │ ├── humanoid_smpl_neutral_mesh.xml │ ├── humanoid_smpl_neutral_mesh_all.xml │ ├── humanoid_smpl_neutral_mesh_all_step.xml │ ├── humanoid_smpl_neutral_mesh_all_vis.xml │ ├── humanoid_smpl_neutral_mesh_all_vis_step.xml │ ├── humanoid_smpl_neutral_mesh_vis.xml │ ├── teaser.gif │ └── template │ └── humanoid_template.xml ├── config ├── statear │ ├── kin_only.yml │ ├── kin_poly.yml │ ├── kin_poly_wo_action.yml │ └── use_of.yml └── uhc │ └── uhc.yml ├── downlaod_data.sh ├── kin_poly ├── .DS_Store ├── __init__.py ├── core │ ├── __init__.py │ ├── agent_ar.py │ ├── agent_ego.py │ ├── agent_ego_traj.py │ ├── agent_vgail.py │ ├── agents │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── agent_pg.py │ │ ├── agent_ppo.py │ │ └── agent_trpo.py │ ├── common.py │ ├── critic.py │ ├── distributions.py │ ├── logger_rl.py │ ├── policy.py │ ├── policy_disc.py │ ├── policy_gaussian.py │ ├── reward_function.py │ ├── trajbatch.py │ └── trajbatch_ego.py ├── data_loaders │ ├── of_dataset.py │ └── statear_smpl_dataset.py ├── data_process │ ├── PWCNet.py │ ├── batch_fpv_raw.py │ ├── compute_of_feat.py │ ├── convert_clip.py │ ├── feature_extractor.py │ ├── gen_cnn_feature.py │ ├── gen_kin_exp.py │ ├── process_amass_first.py │ ├── process_fpv_raw.py │ ├── process_smpl.py │ ├── process_trajs.py │ ├── replay_data.py │ └── script_pwc.py ├── envs │ ├── common │ │ ├── mjviewer.py │ │ └── mujoco_env.py │ ├── humanoid_ar_v1.py │ └── visual │ │ └── humanoid_vis.py ├── mocap │ ├── bvh.py │ ├── pose.py │ └── skeleton.py ├── models │ ├── __init__.py │ ├── mlp.py │ ├── mobile_net.py │ ├── models.py │ ├── policy_ar.py │ ├── resnet.py │ ├── resnet_traj.py │ ├── rnn.py │ ├── space_net.py │ └── traj_ar_smpl_net.py └── utils │ ├── __init__.py │ ├── arnet_3_config.py │ ├── compute_loss.py │ ├── egomimic_config.py │ ├── egomimic_ft_config.py │ ├── flags.py │ ├── image_utils.py │ ├── img_utils.py │ ├── logger.py │ ├── math_utils.py │ ├── memory.py │ ├── metrics.py │ ├── numpy_smpl_humanoid.py │ ├── smooth_bbox.py │ ├── statear_config.py │ ├── statear_smpl_config.py │ ├── statereg_config.py │ ├── tools.py │ ├── torch_ext.py │ ├── torch_geometry_transforms.py │ ├── torch_humanoid.py │ ├── torch_smpl_humanoid.py │ ├── torch_utils.py │ ├── transform_utils.py │ ├── transformation.py │ └── zfilter.py ├── requirements.txt ├── sample_data └── standing_neutral.pkl ├── scripts ├── eval_ar_policy.py ├── eval_pose_all.py ├── eval_uhc.py ├── exp_arnet_all.py ├── train_ar_policy.py └── train_uhc.py └── uhc ├── .DS_Store ├── core ├── agent_copycat.py ├── policy_mcp.py └── reward_function.py ├── data_loaders ├── dataset_amass_batch.py ├── dataset_amass_single.py └── dataset_smpl_obj.py ├── data_process ├── amass_to_qpos.py ├── augment_amass.py ├── gen_standing.py ├── gen_states.py ├── grad_rig_conversion.py ├── process_amass_raw.py └── process_smpl_data.py ├── envs ├── __init__.py └── humanoid_im.py ├── khrylib ├── __init__.py ├── mocap │ ├── mocap_to_mujoco.py │ ├── pose.py │ ├── skeleton.py │ ├── skeleton_mesh.py │ └── vis_joint_range.py ├── models │ ├── __init__.py │ ├── cmlp.py │ ├── discriminator.py │ ├── erd_net.py │ ├── mlp.py │ ├── mobile_net.py │ ├── resnet.py │ ├── rnn.py │ ├── simple_cnn.py │ ├── tcn.py │ ├── video_forecast_net.py │ ├── video_reg_net.py │ └── video_state_net.py ├── rl │ ├── __init__.py │ ├── agents │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── agent_pg.py │ │ ├── agent_ppo.py │ │ └── agent_trpo.py │ ├── core │ │ ├── __init__.py │ │ ├── common.py │ │ ├── critic.py │ │ ├── distributions.py │ │ ├── logger_rl.py │ │ ├── policy.py │ │ ├── policy_disc.py │ │ ├── policy_gaussian.py │ │ └── trajbatch.py │ ├── envs │ │ ├── common │ │ │ ├── mjviewer.py │ │ │ └── mujoco_env.py │ │ └── visual │ │ │ └── humanoid_vis.py │ └── utils │ │ └── visualizer.py ├── scripts │ └── create_vis_model.py └── utils │ ├── __init__.py │ ├── logger.py │ ├── math.py │ ├── memory.py │ ├── mujoco.py │ ├── tools.py │ ├── torch.py │ ├── transformation.py │ 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