Anyskill for open-vocabulary physical natural motions

Installation

Download Isaac Gym from the website, then follow the installation instructions.

Once Isaac Gym is installed, install the external dependencies for this repo:

pip install -r requirements.txt

Low-level controller training

First, a CALM model can be trained to imitate a dataset of motions clips using the following command:

python calm/run_iter.py --task HumanoidAMPGetup --cfg_env calm/data/cfg/humanoid_calm_sword_shield_getup.yaml --cfg_train calm/data/cfg/train/rlg/calm_humanoid.yaml --motion_file ./motions/motions_155.yaml --headless  --track

--motion_file can be used to specify a dataset of motion clips that the model should imitate. The task HumanoidAMPGetup will train a model to imitate a dataset of motion clips and get up after falling. Over the course of training, the latest checkpoint Humanoid.pth will be regularly saved to output/, along with a Tensorboard log. --headless is used to disable visualizations and --track is used for tracking using weights and biases. If you want to view the simulation, simply remove this flag. To test a trained model, use the following command:

python calm/run_iter.py --test --task HumanoidAMPGetup --num_envs 16 --cfg_env calm/data/cfg/humanoid_calm_sword_shield_getup.yaml --cfg_train calm/data/cfg/train/rlg/calm_humanoid.yaml --motion_file ./motions/motions_155.yaml --checkpoint [path_to_calm_checkpoint]

 

High-level controller

Specilist policy training

python calm/run.py --task HumanoidSpecAnySKill --cfg_env calm/data/cfg/humanoid_anyskill.yaml --cfg_train calm/data/cfg/train/rlg/spec_anyskill.yaml --motion_file /home/cjm/CALM/calm/data/motions/target_height_motions/motions.yaml --llc_checkpoint /home/cjm/CALM/output/low-level/nn/Humanoid_00014500.pth --track --text_file calm/data/texts.yaml --wandb_project_name special_policy

--llc_checkpoint specifies the checkpoint to use for the low-level controller. --text_file specifies motion captions and their weights. For both training method, we use pretrained model to extract the image features by default. If you want to render with camera, you just need add --render at the end.

Rigid scene policy training

python calm/run.py --task HumanoidSpecAnySKillRigid --cfg_env calm/data/cfg/humanoid_anyskill.yaml --cfg_train calm/data/cfg/train/rlg/spec_anyskill.yaml --motion_file /home/cjm/CALM/calm/data/motions/target_height_motions/motions.yaml --llc_checkpoint /home/cjm/CALM/output/low-level/nn/Humanoid_00014500.pth --track --text_file calm/data/texts.yaml --render

Articulated scene policy training

python calm/run.py --task HumanoidSpecAnySKillArti --cfg_env calm/data/cfg/humanoid_anyskill.yaml --cfg_train calm/data/cfg/train/rlg/scene_anyskill.yaml --motion_file /home/cjm/CALM/calm/data/motions/target_height_motions/motions.yaml --llc_checkpoint /home/cjm/CALM/output/low-level/nn/Humanoid_00014500.pth --track --text_file calm/data/texts_scene.yaml --wandb_project_name special_policy_scene --articulated --render

 

AMP

We also provide an implementation of Adversarial Motion Priors (https://xbpeng.github.io/projects/AMP/index.html). A model can be trained to imitate a given reference motion using the following command:

python calm/run.py --task HumanoidAMP --cfg_env calm/data/cfg/humanoid_sword_shield.yaml --cfg_train calm/data/cfg/train/rlg/amp_humanoid.yaml --motion_file calm/data/motions/reallusion_sword_shield/sword_shield/RL_Avatar_Atk_2xCombo01_Motion.npy --headless  --track

The trained model can then be tested with:

python calm/run.py --test --task HumanoidAMP --num_envs 16 --cfg_env calm/data/cfg/humanoid_sword_shield.yaml --cfg_train calm/data/cfg/train/rlg/amp_humanoid.yaml --motion_file calm/data/motions/reallusion_sword_shield/sword_shield/RL_Avatar_Atk_2xCombo01_Motion.npy --checkpoint [path_to_amp_checkpoint]

 

Motion Data

Motion clips are located in calm/data/motions/. Individual motion clips are stored as .npy files. Motion datasets are specified by .yaml files, which contains a list of motion clips to be included in the dataset. Motion clips can be visualized with the following command:

python calm/run.py --test --task HumanoidViewMotion --num_envs 2 --cfg_env calm/data/cfg/humanoid_sword_shield.yaml --cfg_train calm/data/cfg/train/rlg/amp_humanoid.yaml --motion_file calm/data/motions/reallusion_sword_shield/sword_shield/RL_Avatar_Atk_2xCombo01_Motion.npy

--motion_file can be used to visualize a single motion clip .npy or a motion dataset .yaml.

If you want to retarget new motion clips to the character, you can take a look at an example retargeting script in calm/poselib/retarget_motion.py.