[Repo still under construction]

SMPLSim: Simulating SMPL/SMPLX Humanoids in MUJOCO and Isaac Gym

smpl_sim is a pip-installable library containing a modelization of the SMPL humanoid in different simulators (MUJOCO and Isaac Gym). It is a minimal library to support simple humanoid tasks, and is the basis library for doing more complicated tasks such as motion imitation.

Core Features

This repo supports creating the xml files for SMPL/SMPLH/SMPLX compatible humanoid models in MUJOCO>=3. It also supports creating the humanoid models in Isaac Gym. It also provides a simple PPO implementation for training the humanoid models in MUJOCO.

Commands:

python examples/env_humanoid_test.py headless=False
python smpl_sim/run.py env=speed exp_name=speed env.self_obs_v=2  robot.create_vel_sensors=True
python smpl_sim/run.py env=getup exp_name=speed env.self_obs_v=2 robot.create_vel_sensors=True
python smpl_sim/run.py env=reach exp_name=speed env.self_obs_v=2 robot.create_vel_sensors=True

Citation

If you find this work useful for your research, please cite our paper:

PULSE:
@inproceedings{
luo2024universal,
title={Universal Humanoid Motion Representations for Physics-Based Control},
author={Zhengyi Luo and Jinkun Cao and Josh Merel and Alexander Winkler and Jing Huang and Kris M. Kitani and Weipeng Xu},
booktitle={The Twelfth International Conference on Learning Representations},
year={2024},
url={https://openreview.net/forum?id=OrOd8PxOO2}
}

PHC:
@inproceedings{Luo2023PerpetualHC,
    author={Zhengyi Luo and Jinkun Cao and Alexander W. Winkler and Kris Kitani and Weipeng Xu},
    title={Perpetual Humanoid Control for Real-time Simulated Avatars},
    booktitle={International Conference on Computer Vision (ICCV)},
    year={2023}
}           

UHC:
@inproceedings{Luo2021DynamicsRegulatedKP,
  title={Dynamics-Regulated Kinematic Policy for Egocentric Pose Estimation},
  author={Zhengyi Luo and Ryo Hachiuma and Ye Yuan and Kris Kitani},
  booktitle={Advances in Neural Information Processing Systems},
  year={2021}
}

Also consider citing these prior works that are used in this project:

@inproceedings{Luo2022EmbodiedSH,
  title={Embodied Scene-aware Human Pose Estimation},
  author={Zhengyi Luo and Shun Iwase and Ye Yuan and Kris Kitani},
  booktitle={Advances in Neural Information Processing Systems},
  year={2022}
}

@inproceedings{rempeluo2023tracepace,
    author={Rempe, Davis and Luo, Zhengyi and Peng, Xue Bin and Yuan, Ye and Kitani, Kris and Kreis, Karsten and Fidler, Sanja and Litany, Or},
    title={Trace and Pace: Controllable Pedestrian Animation via Guided Trajectory Diffusion},
    booktitle={Conference on Computer Vision and Pattern Recognition (CVPR)},
    year={2023}
}