├── .gitignore ├── CITATION.cff ├── README.md ├── README_cn.md ├── data └── demo │ ├── dog_move │ ├── dog_move.gif │ └── dog_move.npz │ ├── knee_walk │ ├── knee_walk.gif │ └── knee_walk.npz │ └── punch │ ├── amp.gif │ ├── punch.npz │ └── tracking.gif ├── docs ├── quick_fix.md └── tutorial.md ├── scripts ├── factoryIsaac │ ├── argtool.py │ ├── play.py │ └── train.py ├── setup_ext.sh ├── setup_isaaclab_link.py ├── setup_vscode.py ├── sim2simlib ├── test_env.py └── update_ext.sh └── source ├── amp_tasks ├── README.md ├── amp_tasks │ ├── __init__.py │ ├── amp │ │ ├── __init__.py │ │ ├── amp_env_cfg.py │ │ └── robots │ │ │ ├── __init__.py │ │ │ └── g1 │ │ │ ├── __init__.py │ │ │ ├── flat_env_cfg.py │ │ │ └── rsl_rl_ppo_cfg.py │ ├── amp_task_demo_data_cfg.py │ ├── tracking │ │ ├── __init__.py │ │ ├── robots │ │ │ ├── __init__.py │ │ │ └── g1 │ │ │ │ ├── __init__.py │ │ │ │ ├── amp_env_cfg.py │ │ │ │ ├── flat_env_cfg.py │ │ │ │ └── rsl_rl_ppo_cfg.py │ │ └── tracking_env_cfg.py │ └── velocity │ │ ├── __init__.py │ │ ├── mdp │ │ ├── __init__.py │ │ ├── commands.py │ │ ├── curriculums.py │ │ ├── observations.py │ │ └── rewards.py │ │ └── robots │ │ ├── __init__.py │ │ ├── g1 │ │ ├── __init__.py │ │ ├── rsl_rl_ppo_cfg.py │ │ ├── velocity_amp_env_cfg.py │ │ ├── velocity_env_cfg.py │ │ └── velocity_less_reward_env_cfg.py │ │ └── g1_dog_move │ │ ├── __init__.py │ │ ├── amp_env_cfg.py │ │ ├── flat_env_cfg.py │ │ └── rsl_rl_ppo_cfg.py └── setup.py ├── beyondAMP ├── README.md ├── beyondAMP │ ├── __init__.py │ ├── isaaclab │ │ ├── __init__.py │ │ └── rsl_rl │ │ │ ├── __init__.py │ │ │ ├── amp_wrapper.py │ │ │ ├── configs │ │ │ ├── __init__.py │ │ │ ├── amp_cfg.py │ │ │ ├── rl_cfg.py │ │ │ ├── rnd_cfg.py │ │ │ └── symmetry_cfg.py │ │ │ ├── exporter.py │ │ │ └── vecenv_wrapper.py │ ├── mdp │ │ ├── __init__.py │ │ ├── commands │ │ │ ├── __init__.py │ │ │ └── metrics │ │ │ │ ├── AFR.py │ │ │ │ ├── __init__.py │ │ │ │ └── success_rate.py │ │ ├── events.py │ │ ├── observations.py │ │ └── rewards.py │ ├── motion │ │ ├── __init__.py │ │ ├── motion_dataset.py │ │ ├── motion_transition.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ └── math.py │ │ └── weighted_motion_dataset.py │ └── obs_groups │ │ ├── __init__.py │ │ ├── amp_obs_anchor.py │ │ ├── amp_obs_base.py │ │ └── amp_obs_body.py └── setup.py ├── rsl_rl_amp ├── rsl_rl_amp │ ├── __init__.py │ ├── algorithms │ │ ├── __init__.py │ │ ├── amp_ppo │ │ │ ├── __init__.py │ │ │ ├── amp_ppo.py │ │ │ └── amp_ppo_weighted.py │ │ ├── ase_ppo │ │ │ └── __init__.py │ │ ├── gail_ppo │ │ │ ├── __init__.py │ │ │ └── gail_ppo.py │ │ └── ppo.py │ ├── env │ │ ├── __init__.py │ │ └── vec_env.py │ ├── modules │ │ ├── __init__.py │ │ ├── actor_critic.py │ │ ├── actor_critic_recurrent.py │ │ └── amp_discriminator.py │ ├── runners │ │ ├── __init__.py │ │ ├── amp_on_policy_runner.py │ │ └── on_policy_runner.py │ ├── storage │ │ ├── __init__.py │ │ ├── replay_buffer.py │ │ └── rollout_storage.py │ └── utils │ │ ├── __init__.py │ │ └── utils.py └── setup.py └── third_party ├── beyondMimic ├── beyondMimic │ ├── __init__.py │ ├── mdp │ │ ├── __init__.py │ │ ├── commands.py │ │ ├── events.py │ │ ├── observations.py │ │ ├── rewards.py │ │ └── terminations.py │ └── utils │ │ ├── __init__.py │ │ ├── exporter.py │ │ └── my_on_policy_runner.py ├── scripts │ └── data_replay │ │ ├── csv_to_npz.py │ │ ├── replay_npz.py │ │ └── upload_npz.py └── setup.py └── sim2simlib ├── .gitignore ├── config.json ├── scripts ├── g1_29dof_vel_his.py ├── g1_mimic.py ├── go2_handstand.py └── test_mujoco.py ├── setup.py └── sim2simlib ├── __init__.py ├── mimic ├── __init__.py ├── config.py └── sim2sim_beyond_mimic.py ├── model ├── __init__.py ├── actuator_motor.py ├── config.py └── sim2sim_base.py └── utils ├── __init__.py ├── math.py ├── motion_dataloader.py ├── motion_dataset.py └── utils.py /.gitignore: -------------------------------------------------------------------------------- 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