Add AMP get-up pipeline with sequence discriminator and git-sourced expert data

rl_game/get_up/amp/README.md

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