Here you can find an overviw of all tasks. Each Task is represented by its own ID. For each task, you can choose between different datasets. The real dataset contains real (noisy) motion capture datasets without actions. The perfect dataset contains ground truth states and actions form an expert policy (only available on an few tasks). The preference dataset contains preferences of an ground truth expert with states and action (only available on an few tasks). The status of a dataset can be seen down below. ✅ means it is already available, and 🔶 means pending.
| Image | Task-IDs | Status of Datasets | Description |
|---|---|---|---|
 |
HumanoidMuscle.walk HumanoidMuscle.run HumanoidMuscle4Ages.walk.4 HumanoidMuscle.run HumanoidMuscle4Ages.run.4 |
real: ✅ perfect: ✅ preference: 🔶 |
Task of an adult Muscle Humanoid Walking or Running Straight. |
 |
HumanoidMuscle4Ages.walk.3 HumanoidMuscle4Ages.run.3 |
real: ✅ perfect: 🔶 preference: 🔶 |
Task of a (~12 year old) Muscle Humanoid Walking or Running Straight. |
 |
HumanoidMuscle4Ages.walk.2 HumanoidMuscle4Ages.run.2 |
real: ✅ perfect: 🔶 preference: 🔶 |
Task of a (~5-6 year old) Muscle Humanoid Walking or Running Straight. |
 |
HumanoidMuscle4Ages.walk.1 HumanoidMuscle4Ages.run.1 |
real: ✅ perfect: 🔶 preference: 🔶 |
Task of a (~2 year old) Muscle Humanoid Walking or Running Straight. |
 |
HumanoidTorque.walk HumanoidTorque.run HumanoidTorque4Ages.walk.4 HumanoidTorque.run HumanoidTorque4Ages.run.4 |
real: ✅ perfect: ✅ preference: 🔶 |
Task of an adult Torque Humanoid Walking or Running Straight. |
 |
HumanoidTorque4Ages.walk.3 HumanoidTorque4Ages.run.3 |
real: ✅ perfect: ✅ preference: 🔶 |
Task of a (~12 year old) Torque Humanoid Walking or Running Straight. |
 |
HumanoidTorque4Ages.walk.2 HumanoidTorque4Ages.run.2 |
real: ✅ perfect: ✅ preference: 🔶 |
Task of a (~5-6 year old) Torque Humanoid Walking or Running Straight. |
 |
HumanoidTorque4Ages.walk.1 HumanoidTorque4Ages.run.1 |
real: ✅ perfect: ✅ preference: 🔶 |
Task of a (~2 year old) Torque Humanoid Walking or Running Straight. |
 |
UnitreeH1.walk | real: ✅ perfect: ✅ preference: 🔶 |
UnitreeH1 Straight Walking Task. |
 |
UnitreeH1.run | real: ✅ perfect: ✅ preference: 🔶 |
UnitreeH1 Straight Running Task. |
 |
UnitreeH1.carry | real: ✅ perfect: 🔶 preference: 🔶 |
UnitreeH1 Carry Task. |
 |
UnitreeG1.walk | real: ✅ perfect: 🔶 preference: 🔶 |
UnitreeG1 Straight Walking Task. |
 |
UnitreeG1.run | real: ✅ perfect: 🔶 preference: 🔶 |
UnitreeG1 Straight Running Task. |
 |
Talos.walk | real: ✅ perfect: ✅ preference: 🔶 |
Talos Straight Walking Task. |
 |
Talos.carry | real: ✅ perfect: 🔶 preference: 🔶 |
Talos Carry Task. |
 |
Atlas.walk | real: ✅ perfect: ✅ preference: 🔶 |
Atlas Straight Walking Task. |
 |
Atlas.carry | real: ✅ perfect: 🔶 preference: 🔶 |
Atlas Carry Task. |
 |
UnitreeA1.simple | real: ✅ perfect: ✅ preference: 🔶 |
UnitreeA1 Straight Walking Task. |
 |
UnitreeA1.hard | real: ✅ perfect: ✅ preference: 🔶 |
UnitreeA1 Walking in 8 Different Direction Task. |