apple-aiml-research/ml-halo
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Very new: it was created 3 days ago. Wait a little before installing it.
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Last change 2 days ago.
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What it is
Research code for the HALO paper on perceptive humanoid motion learned from simulation. It covers synthetic data generation (Infinigen scenes, Kimodo motion, Isaac and MuJoCo rendering), training of a motion generator and a Unitree G1 motion-tracking policy, and deployment in…
Who it's for
Robotics and machine learning researchers working on humanoid motion control and Unitree G1 robots
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