humanoid robot walking with reinforcement learning

installation

to run this repository, please first install genesis:

create a virtual env:

conda create -n genesis python=3.10

stay in this repository, and run:

pip install -e ".[dev]"
pip install torch

then install rsl_rl lib:

git checkout v1.0.2 && pip install -e .

test commands

walking velocity command 0.3m/s (can be any float between 0.0~0.3)

python src/ainex_eval.py --ckpt 1900 --vel 0.3

walking velocity command 0.2m/s

python src/ainex_eval.py --ckpt 1900 --vel 0.2

walking velocity command 0.1m/s

python src/ainex_eval.py --ckpt 1900 --vel 0.1

test older models (from 500~1900)

python src/ainex_eval.py --ckpt 500

resuls:

results are already saved in results/ folder, please feel free to check the videos