├── .gitignore ├── .idea ├── .gitignore ├── inspectionProfiles │ ├── Project_Default.xml │ └── profiles_settings.xml ├── misc.xml ├── modules.xml ├── multiphys.iml ├── vcs.xml └── workspace.xml ├── README.md ├── assets ├── mujoco_models │ ├── humanoid_smpl_neutral_mesh.xml │ ├── humanoid_smpl_neutral_mesh_vis.xml │ └── template │ │ ├── cones.xml │ │ ├── humanoid_template.xml │ │ ├── humanoid_template_design.xml │ │ ├── humanoid_template_local.xml │ │ ├── humanoid_template_test.xml │ │ └── humanoid_template_vis.xml └── teaser.png ├── config ├── Copycat │ └── copycat_eval_1.yml ├── release │ └── uhc_explicit.yml └── video_pose │ └── tcn_voxel_4_5_chi3d_multi_hum.yml ├── data_preproc.sh ├── embodiedpose ├── __init__.py ├── agents │ ├── __init__.py │ └── agent_embodied_pose.py ├── constants.py ├── core │ ├── __init__.py │ ├── common.py │ ├── critic.py │ ├── distributions.py │ ├── logger_rl.py │ ├── reward_function.py │ ├── trajbatch.py │ └── trajbatch_humor.py ├── data_loaders │ ├── __init__.py │ ├── amass_dataset.py │ ├── amass_multi_dataset.py │ ├── chunked_generator.py │ ├── scene_pose_dataset.py │ └── video_pose_dataset.py ├── data_process │ ├── PWCNet.py │ ├── gen_prox_video.py │ ├── grad_gpa_convert.py │ ├── process_amass_3rd.py │ ├── process_amass_first.py │ ├── process_fpv_raw.py │ ├── process_gpa.py │ ├── process_h36m_j2d.py │ ├── process_humor_split.py │ ├── process_hybrik.py │ ├── process_lemo_and_prox.py │ ├── process_smpl.py │ ├── process_thirdeye.py │ ├── replay_data.py │ └── script_pwc.py ├── envs │ ├── __init__.py │ └── humanoid_kin_res.py ├── metrics │ ├── __init__.py │ └── collision.py ├── mocap │ ├── bvh.py │ ├── pose.py │ └── skeleton.py ├── models │ ├── __init__.py │ ├── humor │ │ ├── body_model │ │ │ ├── body_model.py │ │ │ └── utils.py │ │ ├── chamfer_distance │ │ │ ├── LICENSE │ │ │ ├── __init__.py │ │ │ ├── chamfer_distance.cpp │ │ │ ├── chamfer_distance.cu │ │ │ └── chamfer_distance.py │ │ ├── humor_model.py │ │ ├── numpy_humor_loss.py │ │ ├── torch_humor_loss.py │ │ └── utils │ │ │ ├── humor_mujoco.py │ │ │ ├── torch.py │ │ │ ├── transforms.py │ │ │ └── velocities.py │ ├── implicit_sdfs.py │ ├── implicit_sdfs_np.py │ ├── kin_net_humor_res.py │ ├── kin_policy_humor_res.py │ ├── kin_tcn.py │ ├── kin_tcn_bn.py │ ├── models.py │ ├── policy.py │ ├── smpl_multi.py │ ├── smpl_np.py │ ├── smpl_spin.py │ ├── space_net.py │ ├── spin.py │ ├── tcn.py │ └── uhm_model.py ├── smpllib │ └── scene_robot.py └── utils │ ├── __init__.py │ ├── image_utils.py │ ├── img_utils.py │ ├── logger.py │ ├── math_utils.py │ ├── memory.py │ ├── metrics.py │ ├── pytorch3d_transforms.py │ ├── scene_utils.py │ ├── smooth_bbox.py │ ├── statear_config.py │ ├── statear_smpl_config.py │ ├── statereg_config.py │ ├── tb_logger.py │ ├── tools.py │ ├── torch_geometry_transforms.py │ ├── torch_utils.py │ ├── transform_utils.py │ ├── transformation.py │ ├── video_pose_config.py │ └── zfilter.py ├── embpose_util ├── __init__.py ├── loaders.py ├── logger.py └── tensor.py ├── env_build.yml ├── fetch_demo_data.sh ├── install_conda.sh ├── metrics ├── chi3d_sequences.txt ├── collision.py ├── compute_metrics.py ├── compute_metrics_all.py ├── expi_sequences.txt ├── hi4d_sequences.txt ├── metrics_mp.py ├── prepare.py ├── prepare_pred_results.py ├── prepare_slahmr_results.py ├── sdf_collision.py ├── sdf_loss.py ├── sequence_lists.py └── tools.py ├── multiphys ├── __init__.py ├── agents │ ├── __init__.py │ └── agent_embodied_pose_multi.py ├── data_loaders │ ├── __init__.py │ └── multi_hum_pose_dataset.py ├── data_process │ ├── chi3d_for_emb.py │ ├── constants.py │ ├── data_reading.py │ ├── dynamic_cam_projection.py │ ├── expi_for_emb.py │ ├── hi4d_for_emb.py │ ├── process.py │ ├── process_phalp_all.py │ ├── rigid_transform_3d.py │ └── smpl_transforms.py ├── envs │ ├── __init__.py │ └── humanoid_kin_res_multi.py ├── process_data │ ├── __init__.py │ ├── post_process │ │ ├── __init__.py │ │ └── merge_meshes.py │ ├── preprocess │ │ ├── __init__.py │ │ ├── chi3d.py │ │ ├── chi3d_inspect_preproc.py │ │ ├── dynamic_cam_projection.py │ │ ├── launch_pre.sh │ │ ├── prox.py │ │ ├── prox_crop_imgs.py │ │ ├── prox_to_humor_fmt.py │ │ ├── slahmr_results.py │ │ ├── slahmr_to_world.py │ │ └── smpl_transforms.py │ ├── process │ │ ├── __init__.py │ │ ├── associate.py │ │ ├── constants.py │ │ ├── data_reading.py │ │ ├── humor.py │ │ ├── inspect │ │ │ ├── __init__.py │ │ │ ├── inspect_proc_data.py │ │ │ └── inspect_process_simu.py │ │ ├── inspect_2d_kpts.py │ │ ├── launch_proc.sh │ │ ├── move_expi_results.py │ │ ├── process.py │ │ ├── process_chi3d.py │ │ ├── process_chi3d_bck.py │ │ ├── process_humor.py │ │ ├── process_optim_results.py │ │ ├── process_phalp.py │ │ ├── process_phalp_all.py │ │ ├── process_pipeline_results.py │ │ ├── process_prox.py │ │ ├── process_prox_truncate.py │ │ └── process_simu_results.py │ └── process_videos.py ├── processors.py └── smpllib │ └── scene_robot_multi.py ├── requirements.txt ├── run.py ├── run_demo.sh ├── scripts ├── run_opt_world_chi3d.sh ├── run_opt_world_expi.sh └── run_opt_world_hi4d.sh ├── sdf ├── README.md ├── sdf │ ├── __init__.py │ ├── csrc │ │ ├── sdf_cuda.cpp │ │ ├── sdf_cuda_bck.cpp │ │ └── sdf_cuda_kernel.cu │ ├── sdf.py │ └── sdf_loss.py └── setup.py ├── third_party └── slahmr │ ├── body_model │ ├── __init__.py │ ├── body_model.py │ └── specs.py │ ├── confs │ ├── config.yaml │ ├── data │ │ ├── chi3d.yaml │ │ ├── expi.yaml │ │ └── hi4d.yaml │ ├── init.yaml │ └── optim.yaml │ ├── data │ ├── __init__.py │ ├── dataset.py │ ├── dataset_simu.py │ ├── tools.py │ └── vidproc.py │ ├── geometry │ ├── __init__.py │ ├── camera.py │ ├── mesh.py │ ├── pcl.py │ ├── plane.py │ └── rotation.py │ ├── humor │ ├── __init__.py │ ├── amass_utils.py │ ├── humor_model.py │ └── transforms.py │ ├── optim │ ├── __init__.py │ ├── base_scene.py │ ├── helpers.py │ ├── losses.py │ ├── moving_scene.py │ ├── optimizers.py │ ├── output.py │ └── params.py │ ├── run_opt_world.py │ ├── run_vis_world.py │ ├── util │ ├── __init__.py │ ├── loaders.py │ ├── logger.py │ └── tensor.py │ ├── vis │ ├── __init__.py │ ├── colors.txt │ ├── colors_phalp.txt │ ├── fig_specs.py │ ├── output.py │ ├── render.py │ ├── tools.py │ └── viewer.py │ └── vis_output.py ├── uhc ├── __init__.py ├── agents │ ├── __init__.py │ ├── agent_copycat.py │ └── agent_uhm.py ├── core │ └── trajbatch_ego.py ├── data_loaders │ ├── dataset_amass_batch.py │ ├── dataset_amass_single.py │ ├── dataset_amass_traj.py │ ├── dataset_batch.py │ ├── dataset_single │ └── dataset_smpl_obj.py ├── data_process │ ├── amass_to_qpos.py │ ├── fix_height.py │ ├── gen_standing.py │ ├── gen_states.py │ ├── process_amass_db.py │ ├── process_amass_raw.py │ └── process_smpl_data.py ├── envs │ ├── __init__.py │ ├── humanoid_im.py │ └── humanoid_kin_v1.py ├── khrylib │ ├── __init__.py │ ├── mocap │ │ ├── mocap_to_mujoco.py │ │ ├── pose.py │ │ ├── skeleton.py │ │ ├── skeleton_bvh.py │ │ ├── skeleton_local.py │ │ ├── skeleton_mesh.py │ │ ├── skeleton_mesh_local.py │ │ ├── skeleton_mesh_v2.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 │ │ │ ├── running_norm.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 │ │ └── zfilter.py ├── losses │ ├── loss_function.py │ ├── reward_function.py │ └── uhm_rewards.py ├── models │ ├── __init__.py │ ├── kin_net.py │ ├── kin_net_base.py │ ├── kin_policy.py │ ├── kin_policy_rnn.py │ ├── policy_mcp.py │ ├── super_net.py │ └── tf_policy.py ├── smpllib │ ├── np_smpl_humanoid_batch.py │ ├── numpy_smpl_humanoid.py │ ├── smpl_cap_robot.py │ ├── smpl_eval.py │ ├── smpl_mujoco.py │ ├── smpl_parser.py │ ├── smpl_robot.py │ ├── torch_smpl_humanoid.py │ └── torch_smpl_humanoid_batch.py └── utils │ ├── config_utils │ ├── base_config.py │ ├── copycat_config.py │ └── uhm_config.py │ ├── convert_amass_data.py │ ├── convert_h36m_data.py │ ├── convert_h36m_raw.py │ ├── copycat_visualizer.py │ ├── create_h36m_humanoid.py │ ├── flags.py │ ├── geom.py │ ├── h36m_specs.py │ ├── image_utils.py │ ├── kp_utils.py │ ├── lightning_utils.py │ ├── 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