# COMPASS

**Repository Path**: mirrors_NVlabs/COMPASS

## Basic Information

- **Project Name**: COMPASS
- **Description**: Cross-embOdiment Mobility Policy via ResiduAl RL and Skill Synthesis
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-03-20
- **Last Updated**: 2026-09-12

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

<h1 align="center"> COMPASS: Cross-Embodiment Mobility Policy via Residual RL and Skill Synthesis </h1>

<div align="center">

[![Isaac Lab](https://img.shields.io/badge/IsaacLab-3.0.0--beta1-b.svg)](https://isaac-sim.github.io/IsaacLab/v3.0.0-beta1/index.html)
[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.5.0-b.svg)](https://docs.isaacsim.omniverse.nvidia.com/4.5.0/index.html)
[![Linux platform](https://img.shields.io/badge/Platform-linux--64-orange.svg)](https://ubuntu.com/blog/tag/22-04-lts)
[![License: Apache 2.0](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)


[[Website]](https://nvlabs.github.io/COMPASS/)
[[Documentation]](https://nvlabs.github.io/COMPASS/docs/)
[[arXiv]](https://arxiv.org/abs/2502.16372)
</div>

## Overview

This repository provides the official PyTorch implementation of [COMPASS](https://nvlabs.github.io/COMPASS/).

<p align="center">
    <img src="images/compass.jpg" alt="COMPASS" width="900" >
</p>

COMPASS is a framework for cross-embodiment mobility that combines:

- Imitation Learning (IL) for strong baseline performance
- Residual Reinforcement Learning (RL) for embodiment-specific adaptation
- Policy distillation to create a unified, generalist policy

## Quick start

> Requires Docker + the [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html), and an NVIDIA GPU + driver that meet the [Isaac Lab system requirements](https://isaac-sim.github.io/IsaacLab/v3.0.0-beta/source/setup/installation/index.html#system-requirements).

```bash
git clone https://github.com/NVlabs/COMPASS.git && cd COMPASS

export HF_TOKEN=hf_xxx                    # https://huggingface.co/settings/tokens
./docker/run.sh assets                    # USDs + X-Mobility ckpt → ./assets/   (~5 min)
./docker/run.sh build                     # build the dev image                  (~10 min)
source ./docker/activate                  # venv-like activation (prompt: (compass-rl))

python run.py -c configs/train_config.gin -o /tmp/out -b ./assets/x_mobility.ckpt --enable_cameras --num_envs 1 --visualizer kit
```

`python` is now a shim that runs inside the container. Edit code with your host
editor — the bind-mount means changes hot-reload. `deactivate` to leave;
`./docker/run.sh down` to stop the container.

## Documentation

Everything else — install details, training / distillation / export workflows,
ROS2 deployment, OSMO cloud submission, GR00T post-training, agentic skills,
auto-OMap generation, and contributing — lives in the **handbook**:

> 📖 **<https://nvlabs.github.io/COMPASS/docs/>**

## License

COMPASS is released under the Apache License 2.0. See [LICENSE](LICENSE) for additional details.

## Core contributors

Wei Liu, Huihua Zhao, Chenran Li, Joydeep Biswas, Soha Pouya, Yan Chang

## Acknowledgments

We would like to acknowledge the following projects where parts of the codes in this repo is derived from:

- [RSL_RL](https://github.com/leggedrobotics/rsl_rl/tree/main)
- [Isaac Lab](https://github.com/isaac-sim/IsaacLab)

## Citation

If you find this work useful in your research, please consider citing:

```bibtex
@article{liu2025compass,
  title={COMPASS: Cross-embodiment Mobility Policy via Residual RL and Skill Synthesis},
  author={Liu, Wei and Zhao, Huihua and Li, Chenran and Biswas, Joydeep and Pouya, Soha and Chang, Yan},
  journal={arXiv preprint arXiv:2502.16372},
  year={2025}
}
```