人形机器人全身运动规划相关资料与文章

Robert--cao

已于 2025-01-06 16:24:44 修改

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文章标签：机器人

于 2024-12-31 00:09:30 首次发布

本文链接：https://blog.youkuaiyun.com/caokaifa/article/details/144837129

1.HumanPlus: Humanoid Shadowing and Imitation from Humans

这个工程很好部署，CPU直接就可以运行：

python train.py --exptid SOME_YOUR_DESCRIPTION --proj_name b1z1-low --task b1z1 --sim_device=cpu --rl_device=cpu --observe_gait_commands

GPU运行：

python train.py --exptid SOME_YOUR_DESCRIPTION --proj_name b1z1-low --task b1z1 --sim_device cuda:0 --rl_device cuda:0 --observe_gait_commands

具体输入参数设置：

--task: Required parameter; values can be (go2, g1, h1, h1_2).
--headless: Defaults to starting with a graphical interface; set to true for headless mode (higher efficiency).
--resume: Resume training from a checkpoint in the logs.
--experiment_name: Name of the experiment to run/load.
--run_name: Name of the run to execute/load.
--load_run: Name of the run to load; defaults to the latest run.
--checkpoint: Checkpoint number to load; defaults to the latest file.
--num_envs: Number of environments for parallel training.
--seed: Random seed.
--max_iterations: Maximum number of training iterations.
--sim_device: Simulation computation device; specify CPU as --sim_device=cpu.
--rl_device: Reinforcement learning computation device; specify CPU as --rl_device=cpu.