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ZhengyiLuo / PHC

Official Implementation of the ICCV 2023 paper: Perpetual Humanoid Control for Real-time Simulated Avatars
https://zhengyiluo.github.io/PHC/
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Questions about Humanoid Robot Policy #74

Open zengweishuai opened 1 week ago

zengweishuai commented 1 week ago

Hi Luo, thank you for releasing code for Unitree Robot!!!

For the Unitree policies, there are several questions expecting your reply:

  1. Are those policies keypoint-based or rotation-based? Is there any guidance on how to change rotation-based policy into keypoint-based?
  2. Is there any domain randomization applied during the training process?
  3. Are these policies trained on the retargeted dataset which undergoes the same data cleaning process as you'd mentioned in H2O?
ZhengyiLuo commented 1 week ago

Hi,

  1. I did not release trained models with them but only the code support. You can change keypoint-based and rotation-based based on your need (obs_v=7 is keypoint based and obs_v=6 is rotation based).
  2. No domain randomization. I have started adding DR in the humanoid_teleop.py file but haven't tested in real-world yet.
  3. For deploying on the real-humanoid, please refer to policy released in OmniH2O.