Huy-Quang-Dao/instantTrack
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What it is
Training pipeline for whole-body motion tracking of the Unitree G1 humanoid, learning one policy for 40 LAFAN1 motion clips in a MuJoCo Warp simulator (mjlab). It builds on SuperMimic with a world model, GPU-side training loop changes, an EMA policy and a contact reward. Reports…
Who it's for
Robotics and reinforcement learning researchers training motion-tracking policies for humanoid robots on GPU
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