Genesis
A simple and efficient library for training humanoid locomotion in Genesis.
If you work on a Mac, you can install the package with the following command:
micromamba create -n genesis python=3.12
micromamba activate genesis
If you work on a Linux machine, you can install the package with the following command:
conda create -n genesis python=3.11
conda activate genesis
Clone the repository:
git clone https://github.com/kscalelabs/genesis_playground.git
pip install genesis_playground
You can run the training and evaluation for Zeroth Bot with the following commands:
python zbot/zbot_train.py -e zbot-walking --num_envs 4096
On MacPro3 the training will take up to 30 min, you can evaluate some basic walking policy after first 5-10 minutes.
python zbot/zbot_eval.py -e zbot-walking --ckpt 100
Sim2Real pipeline WIP
Updated 23 days ago