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

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Sim2Real pipeline WIP