ctessler/MaskedMimic

Full codebase:

This model works with the ProtoMotions environment.

Masked Mimic -- SMPL Humanoid

What is this?

• Pre-trained Masked Mimic agent for the SMPL (no fingers) humanoid.

• The goal of this model is to generate novel motions from partial constraints.

• It observes:

  • Current pose
  • 15 future poses
  • Projected surrounding heightmap

• It can be constrained using:

  • Any-joint-any-time. Any number of future states (defined via time). For each state, any subset of joints. Each joint constraint supports translation and/or rotation constraints.

• It predicts:

  • Next action (PD target for each joint)

• Trained in IsaacLab. The model may not perform as well in IsaacGym/Genesis.

Evaluating the model

To evaluate the model run the following command:

PYTHON_PATH protomotions/eval_agent.py +robot=smpl +simulator=isaaclab +motion_file=<path to motion file> +checkpoint=data/pretrained_models/masked_mimic/smpl/last.ckpt

• You should pick which motion_file to load.
• The model was trained and performs best in IsaacLab. Simulator can selected using the simulator flag --- performance may vary.
• For faster loading times use a flat terrain (config defaults to random heightmap) +terrain=flat.

For easy evaluation of a target-pose inbetween objective add the following flags

+opt=masked_mimic/constraints/no_constraint env.config.masked_mimic.masked_mimic_masking.target_pose_visible_prob=1

The no_constraint yaml file turns off all constraints. Then we only enable the target_pose visibility.