Installation

Install uv:

curl -LsSf https://astral.sh/uv/install.sh | sh

Run :

uv run test_install.py

Training

If you want to use the imitation reward, you can generate reference motion with this repo

Then copy polynomial_coefficients.json in env/locomotion/open_duck_mini_v2/ or the relevant robot

You'll also have to set USE_IMITATION_REWARD=True in it's joystick.py file

Run:

uv run train.py

Tensorboard

uv run tensorboard --logdir=<yourlogdir>

Eval

Infer mujoco

uv run mujoco_infer.py -o <path_to_.onnx> (-k)

MISC

(Optional) To create a venv:

uv venv

source .venv/bin/activate