# humanoid_amp

**Repository Path**: hililililow/humanoid_amp

## Basic Information

- **Project Name**: humanoid_amp
- **Description**: lab isaac  lab 
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-05-26
- **Last Updated**: 2025-07-17

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

```
ln -s ~/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp ~/IsaacLab/

ln -s ~/IsaacLab/scripts/reinforcement_learning/skrl ~/IsaacLab/
```
Train:
```
(env_isaaclab) gdp@gdp:~/IsaacLab$
./isaaclab.sh -p ~/IsaacLab/skrl/train.py --task Isaac-Bw-AMP-Walk-Direct-v0 --headless

or

./isaaclab.sh -p ~/IsaacLab/skrl/train.py --task Isaac-G1-AMP-Dance-Direct-v0 --headless
```
Eval：
```
./isaaclab.sh -p ~/IsaacLab/skrl/play.py --task Isaac-G1-AMP-Walk-Direct-v0 --num_envs 32 
```
TensorBoard:
```
./isaaclab.sh -p -m tensorboard.main --logdir logs/skrl/
```
The parameters of the code in this repository have not been fine-tuned. Currently, the walk performance is acceptable, but the dance performance is quite poor. Due to personal bussiness, I will not begin to debug until summer.

The dataset and URDF files are from [Hugging Face](https://huggingface.co/datasets/unitreerobotics/LAFAN1_Retargeting_Dataset). 

Video: [Bilibili](https://www.bilibili.com/video/BV19cRvYhEL8/?vd_source=5159ce41348cd4fd3d83ef9169dc8dbc)

DeepWiki: [humanoid_amp](https://deepwiki.com/linden713/humanoid_amp)

**Contributions**, **discussions**, and stars are all welcome! ❥(^_-)