LocoMuJoCo v0.4.1

Added MyoLab's MyoSkeleton Model

ssstwitter.com_1726241460284.mp4

• 151 DoF Humanoid model with realistic spine and neck.
• physiologically realistic model.
• amongst the most comprehensive models to date.

Remarks on model

• this environment is still under active development.
• we are still working on a working policy, so there is no imitation learning script setup yet. But you can modify the existing experiment files by taking the hyperparameters of the other environments to try it out!

Bug Fixes:

• #28
• #30
• #39
• #40
• #41
• #45

Credits

Many thanks to the MyoLab team for providing and helping integrate this model into LocoMuJoCo!

LocoMuJoCo v0.3.0

Added Unitree G1 Humanoid.

• included environment, documentation, and imitation learning scripts.
• fixed bug in testing
  • mujoco is fixed now
  • updated test datasets

LocoMuJoCo v0.2.2

Small fix in datasets.

LocoMuJoCo v0.2.0

Changelog

• New Features:
  • Added full documentation.
  • Added dataset generation pipeline.
  • Added imitation learning experiment script with hyperparameters.
• Datasets:
  • added perfect datasets for Atlas.carry and HumandTorque4Ages tasks.
  • fixed issue with running datasets.
• Fixes:
  • Fixed custom reward interfaces for robot environments (#15).
  • Fixed perfect dataset loader for UnitreeA1 environment (#20).
  • Added render modes to Gymansium interface (#14).

LocoMuJoCo v0.1.0

Initial release of LocoMuJoCo.

This includes:

• 12 environments
• 27 tasks, each represented by different datasets
• for the majority of the tasks, perfect datasets (ground-truth states and actions) are also available
• easy dynamics randomization
• Gym and Mushroom-RL interfaces
• interface for custom reward
• examples and baselines