63 lines
1.8 KiB
Markdown
63 lines
1.8 KiB
Markdown
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# AMP Tools for `get_up`
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This folder contains all AMP-related code for `rl_game/get_up`.
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## Files
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- `amp_rewards.py`: AMP discriminator + reward function used by training config.
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- `amp_motion.py`: Build AMP expert features from local get-up keyframe YAML files.
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- `migrate_legged_lab_expert_template.py`: Template converter for migrating external expert data (for example legged_lab outputs) to `expert_features.pt`.
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## Quick start
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Generate expert features from current local keyframes:
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```bash
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python rl_game/get_up/train.py --amp_from_keyframes --headless
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```
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Convert external motion/expert file to AMP template:
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```bash
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python rl_game/get_up/amp/migrate_legged_lab_expert_template.py \
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--input /path/to/source_data.pt \
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--output rl_game/get_up/amp/expert_features.pt \
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--input_key expert_features \
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--feature_dim 55 \
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--repeat 4
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```
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Convert downloaded `legged_lab` motion pickles directly:
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```bash
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python rl_game/get_up/amp/migrate_legged_lab_expert_template.py \
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--input third_party/legged_lab/source/legged_lab/legged_lab/data/MotionData/g1_29dof/amp/walk_and_run \
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--input_glob "*.pkl" \
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--target_dof 23 \
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--feature_dim 55 \
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--clip_weight_mode uniform \
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--output rl_game/get_up/amp/expert_features.pt
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```
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For get-up data from gitee legged_lab, use git-like focused clip sampling:
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```bash
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python rl_game/get_up/amp/migrate_legged_lab_expert_template.py \
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--input third_party/legged_lab_gitee/source/legged_lab/legged_lab/data/MotionData/g1_29dof/amp/get_up \
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--input_glob "*.pkl" \
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--target_dof 23 \
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--feature_dim 55 \
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--clip_weight_mode git_getup_focus \
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--output rl_game/get_up/amp/expert_features.pt
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```
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Then train with online AMP discriminator:
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```bash
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python rl_game/get_up/train.py \
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--amp_train_discriminator \
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--amp_expert_features rl_game/get_up/amp/expert_features.pt \
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--amp_reward_weight 0.6 \
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--headless
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```
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