{"id":77798,"date":"2026-02-25T14:06:55","date_gmt":"2026-02-25T06:06:55","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/77798.html"},"modified":"2026-02-25T14:06:55","modified_gmt":"2026-02-25T06:06:55","slug":"%e4%bb%8e%e4%ba%ba%e7%b1%bb%e8%a7%86%e9%a2%91%e5%88%b0%e6%9c%ba%e5%99%a8%e4%ba%ba%e8%b7%b3%e8%88%9e%ef%bc%9abeyondmimic-%e5%85%a8%e6%b5%81%e7%a8%8b%e8%a7%a3%e6%9e%90%e4%b8%8e-rl_sar-%e9%83%a8%e7%bd%b2","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/77798.html","title":{"rendered":"\u4ece\u4eba\u7c7b\u89c6\u9891\u5230\u673a\u5668\u4eba\u8df3\u821e\uff1aBeyondMimic \u5168\u6d41\u7a0b\u89e3\u6790\u4e0e rl_sar \u90e8\u7f72\u5b9e\u8df5"},"content":{"rendered":"<h3>0. 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Unitree G1 \u4eba\u5f62\u673a\u5668\u4eba\u4e0a\u3002<\/p>\n<p>\u6574\u6761\u6d41\u7a0b\u6d89\u53ca\u56db\u4e2a\u6838\u5fc3\u5f00\u6e90\u9879\u76ee&#xff1a;GVHMR&#xff08;\u89c6\u9891\u5230\u4eba\u4f53\u6a21\u578b&#xff09;\u3001GMR&#xff08;\u4eba\u4f53\u5230\u673a\u5668\u4eba\u91cd\u5b9a\u5411&#xff09;\u3001BeyondMimic&#xff08;\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u6846\u67b6&#xff09;\u3001\u4ee5\u53ca rl_sar&#xff08;\u4eff\u771f\u9a8c\u8bc1\u4e0e\u771f\u673a\u90e8\u7f72\u6846\u67b6&#xff09;\u3002\u672c\u6587\u4e0d\u4ec5\u4f1a\u9010\u4e00\u62c6\u89e3\u6bcf\u4e2a\u73af\u8282\u7684\u539f\u7406\u548c\u64cd\u4f5c\u6b65\u9aa4&#xff0c;\u8fd8\u4f1a\u6df1\u5165\u5206\u6790 BeyondMimic \u7684\u7b97\u6cd5\u8bbe\u8ba1&#xff0c;\u5e76\u8be6\u7ec6\u8bb0\u5f55\u5c06\u8bad\u7ec3\u4ea7\u7269\u8fc1\u79fb\u5230 rl_sar \u9879\u76ee\u4e2d\u8fdb\u884c sim2sim \u548c sim2real \u90e8\u7f72\u65f6\u9047\u5230\u7684\u5173\u952e\u95ee\u9898\u4e0e\u89e3\u51b3\u65b9\u6848\u3002<\/p>\n<p>\u4e0b\u56fe\u5c55\u793a\u4e86 BeyondMimic \u7684\u6574\u4f53\u6846\u67b6&#xff0c;\u4ece\u8fd0\u52a8\u8ddf\u8e2a\u5230\u901a\u8fc7\u5f15\u5bfc\u6269\u6563\u5b9e\u73b0\u591a\u529f\u80fd\u4eba\u5f62\u63a7\u5236&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/02\/20260225060649-699e9179b216f.png\" alt=\"BeyondMimic\u6574\u4f53\u6846\u67b6\" \/><\/p>\n<hr \/>\n<h3>1. \u7aef\u5230\u7aef\u6d41\u7a0b\u603b\u89c8&#xff1a;\u4ece RGB \u89c6\u9891\u5230\u673a\u5668\u4eba\u8df3\u821e<\/h3>\n<p>\u5728\u6b63\u5f0f\u8fdb\u5165\u6bcf\u4e2a\u6a21\u5757\u7684\u7ec6\u8282\u4e4b\u524d&#xff0c;\u6709\u5fc5\u8981\u5148\u5efa\u7acb\u5bf9\u6574\u6761\u6d41\u7a0b\u7684\u5168\u5c40\u8ba4\u77e5\u3002\u6574\u4e2a\u7cfb\u7edf\u53ef\u4ee5\u88ab\u62c6\u5206\u4e3a\u4e94\u4e2a\u4e32\u8054\u7684\u9636\u6bb5&#xff0c;\u6bcf\u4e2a\u9636\u6bb5\u7684\u8f93\u5165\u548c\u8f93\u51fa\u90fd\u6709\u660e\u786e\u7684\u6570\u636e\u683c\u5f0f\u7ea6\u5b9a&#xff0c;\u4efb\u4f55\u4e00\u4e2a\u73af\u8282\u7684\u6570\u636e\u4e0d\u5339\u914d\u90fd\u4f1a\u5bfc\u81f4\u4e0b\u6e38\u5931\u8d25\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/02\/20260225060652-699e917c404d9.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u7b2c\u4e00\u9636\u6bb5\u662f\u89c6\u9891\u5230\u4eba\u4f53\u6a21\u578b\u7684\u8f6c\u6362\u3002GVHMR \u63a5\u6536\u4e00\u6bb5\u666e\u901a\u7684 RGB \u89c6\u9891\u4f5c\u4e3a\u8f93\u5165&#xff0c;\u901a\u8fc7\u6df1\u5ea6\u5b66\u4e60\u7b97\u6cd5\u4f30\u8ba1\u89c6\u9891\u4e2d\u4eba\u7269\u7684 SMPLX \u4eba\u4f53\u6a21\u578b\u53c2\u6570&#xff0c;\u8f93\u51fa\u4e00\u4e2a\u5305\u542b\u5b8c\u6574\u4eba\u4f53\u8fd0\u52a8\u8f68\u8ff9\u7684 .pt \u6587\u4ef6\u3002\u8fd9\u4e2a\u6587\u4ef6\u8bb0\u5f55\u4e86\u6bcf\u4e00\u5e27\u4e2d\u4eba\u4f53\u7684\u5168\u5c40\u4f4d\u7f6e\u3001\u671d\u5411\u4ee5\u53ca\u5404\u5173\u8282\u7684\u65cb\u8f6c\u89d2\u5ea6\u3002<\/p>\n<p>\u7b2c\u4e8c\u9636\u6bb5\u662f\u4eba\u4f53\u6a21\u578b\u5230\u673a\u5668\u4eba\u6a21\u578b\u7684\u91cd\u5b9a\u5411\u3002\u7531\u4e8e\u4eba\u4f53\u548c\u673a\u5668\u4eba\u5728\u9aa8\u9abc\u7ed3\u6784\u3001\u5173\u8282\u81ea\u7531\u5ea6\u3001\u80a2\u4f53\u6bd4\u4f8b\u4e0a\u5b58\u5728\u663e\u8457\u5dee\u5f02&#xff0c;\u4e0d\u80fd\u76f4\u63a5\u5c06 SMPLX \u7684\u5173\u8282\u89d2\u5ea6\u5957\u7528\u5230\u673a\u5668\u4eba\u4e0a\u3002GMR \u901a\u8fc7\u4f18\u5316\u7b97\u6cd5\u89e3\u51b3\u8fd9\u4e2a&#034;\u4f53\u73b0\u5dee\u8ddd&#034;&#xff08;embodiment gap&#xff09;\u95ee\u9898&#xff0c;\u5c06\u4eba\u4f53\u8fd0\u52a8\u6620\u5c04\u5230 G1 \u673a\u5668\u4eba\u7684\u5173\u8282\u7a7a\u95f4&#xff0c;\u8f93\u51fa .pkl \u6587\u4ef6&#xff0c;\u518d\u8f6c\u6362\u4e3a BeyondMimic \u6240\u9700\u7684 .csv \u683c\u5f0f\u3002<\/p>\n<p>\u7b2c\u4e09\u9636\u6bb5\u662f\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u3002BeyondMimic \u57fa\u4e8e Isaac Lab \u4eff\u771f\u5e73\u53f0&#xff0c;\u4f7f\u7528 PPO \u7b97\u6cd5\u8bad\u7ec3\u673a\u5668\u4eba\u5728\u7269\u7406\u4eff\u771f\u4e2d\u8ddf\u8e2a\u53c2\u8003\u52a8\u4f5c\u3002\u8bad\u7ec3\u5b8c\u6210\u540e\u5bfc\u51fa .onnx \u6a21\u578b\u6587\u4ef6\u548c\u5bf9\u5e94\u7684 .npz \u53c2\u8003\u52a8\u4f5c\u6587\u4ef6\u3002<\/p>\n<p>\u7b2c\u56db\u9636\u6bb5\u662f\u4eff\u771f\u9a8c\u8bc1\u3002\u5728 MuJoCo \u7269\u7406\u5f15\u64ce\u4e2d\u52a0\u8f7d\u8bad\u7ec3\u597d\u7684\u7b56\u7565\u548c\u53c2\u8003\u52a8\u4f5c&#xff0c;\u9a8c\u8bc1\u673a\u5668\u4eba\u80fd\u5426\u5728\u72ec\u7acb\u7684\u4eff\u771f\u73af\u5883\u4e2d\u6b63\u786e\u590d\u73b0\u76ee\u6807\u52a8\u4f5c\u3002\u8fd9\u4e00\u6b65\u662f\u771f\u673a\u90e8\u7f72\u524d\u7684\u5fc5\u8981\u5b89\u5168\u68c0\u67e5\u3002<\/p>\n<p>\u7b2c\u4e94\u9636\u6bb5\u662f\u771f\u673a\u90e8\u7f72\u3002\u5c06\u9a8c\u8bc1\u901a\u8fc7\u7684\u7b56\u7565\u90e8\u7f72\u5230 Unitree G1 \u5b9e\u4f53\u673a\u5668\u4eba\u4e0a&#xff0c;\u901a\u8fc7 rl_sar \u6846\u67b6\u7684 C&#043;&#043; \u5b9e\u65f6\u63a7\u5236\u5faa\u73af\u9a71\u52a8\u673a\u5668\u4eba\u6267\u884c\u52a8\u4f5c\u3002<\/p>\n<hr \/>\n<h3>2. GVHMR&#xff1a;\u4ece RGB \u89c6\u9891\u63d0\u53d6\u4eba\u4f53\u8fd0\u52a8\u8f68\u8ff9<\/h3>\n<h4>2.1 GVHMR \u7684\u4f5c\u7528\u4e0e\u539f\u7406<\/h4>\n<p>GVHMR&#xff08;Global-View Human Motion Recovery&#xff09;\u662f\u6d59\u6c5f\u5927\u5b66\u5f00\u6e90\u7684\u4e00\u4e2a\u4ece\u5355\u76ee RGB \u89c6\u9891\u4e2d\u6062\u590d\u5168\u5c40\u4eba\u4f53\u8fd0\u52a8\u7684\u7b97\u6cd5\u3002\u4f20\u7edf\u7684\u4eba\u4f53\u59ff\u6001\u4f30\u8ba1\u65b9\u6cd5\u901a\u5e38\u53ea\u80fd\u5f97\u5230\u76f8\u5bf9\u4e8e\u76f8\u673a\u5750\u6807\u7cfb\u7684\u5c40\u90e8\u59ff\u6001&#xff0c;\u800c GVHMR \u7684\u6838\u5fc3\u8d21\u732e\u5728\u4e8e\u80fd\u591f\u6062\u590d\u4eba\u4f53\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u7684\u5168\u5c40\u8fd0\u52a8\u8f68\u8ff9&#xff0c;\u5305\u62ec\u5168\u5c40\u5e73\u79fb\u548c\u65cb\u8f6c\u3002\u8fd9\u5bf9\u4e8e\u540e\u7eed\u7684\u673a\u5668\u4eba\u8fd0\u52a8\u91cd\u5b9a\u5411\u81f3\u5173\u91cd\u8981&#xff0c;\u56e0\u4e3a\u673a\u5668\u4eba\u9700\u8981\u77e5\u9053&#034;\u4eba\u5728\u7a7a\u95f4\u4e2d\u8d70\u4e86\u591a\u8fdc\u3001\u8f6c\u4e86\u591a\u5c11&#034;&#xff0c;\u800c\u4e0d\u4ec5\u4ec5\u662f&#034;\u624b\u81c2\u62ac\u4e86\u591a\u9ad8&#034;\u3002<\/p>\n<p>GVHMR \u7684\u8f93\u51fa\u662f\u4e00\u4e2a PyTorch \u7684 .pt \u6587\u4ef6&#xff0c;\u5176\u4e2d\u5305\u542b\u4e86 SMPLX \u4eba\u4f53\u6a21\u578b\u7684\u5b8c\u6574\u53c2\u6570\u5e8f\u5217&#xff1a;\u5168\u5c40\u4f4d\u79fb&#xff08;global translation&#xff09;\u3001\u5168\u5c40\u671d\u5411&#xff08;global orientation&#xff09;\u3001\u8eab\u4f53\u59ff\u6001\u53c2\u6570&#xff08;body pose&#xff09;\u4ee5\u53ca\u624b\u90e8\u59ff\u6001\u53c2\u6570\u3002\u8fd9\u4e9b\u53c2\u6570\u8db3\u4ee5\u5728\u4efb\u610f\u65f6\u523b\u91cd\u5efa\u51fa\u5b8c\u6574\u7684\u4eba\u4f53\u4e09\u7ef4\u7f51\u683c\u3002<\/p>\n<h4>2.2 \u73af\u5883\u914d\u7f6e<\/h4>\n<p>GVHMR \u7684\u5b89\u88c5\u6309\u7167\u5176\u5b98\u65b9\u6587\u6863\u64cd\u4f5c\u5373\u53ef\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f&#xff0c;\u8be5\u9879\u76ee\u4f9d\u8d56\u8f83\u591a\u7684\u9884\u8bad\u7ec3\u6a21\u578b\u548c\u7b2c\u4e09\u65b9\u5e93&#xff0c;\u5efa\u8bae\u5728\u72ec\u7acb\u7684 conda \u73af\u5883\u4e2d\u5b89\u88c5\u3002\u6240\u9700\u7684 inputs \u76ee\u5f55\u6587\u4ef6\u53ef\u4ee5\u4ece\u4ee5\u4e0b\u94fe\u63a5\u83b7\u53d6&#xff1a;<\/p>\n<p>\u94fe\u63a5: https:\/\/pan.baidu.com\/s\/1YffSEeTJi3aBQZM159h1pQ \u63d0\u53d6\u7801: pztv<\/p>\n<h4>2.3 \u6570\u636e\u8f6c\u6362\u64cd\u4f5c<\/h4>\n<p>\u73af\u5883\u914d\u7f6e\u5b8c\u6210\u540e&#xff0c;\u6267\u884c\u4ee5\u4e0b\u547d\u4ee4\u5373\u53ef\u5c06\u89c6\u9891\u8f6c\u6362\u4e3a SMPLX \u8fd0\u52a8\u8f68\u8ff9&#xff1a;<\/p>\n<p>python tools\/demo\/demo.py &#8211;video<span class=\"token operator\">&#061;<\/span>docs\/example_video\/tennis.mp4 -s<\/p>\n<p>\u5176\u4e2d &#8211;video \u53c2\u6570\u6307\u5b9a\u8f93\u5165\u89c6\u9891\u7684\u8def\u5f84&#xff0c;-s \u53c2\u6570\u8868\u793a\u4fdd\u5b58\u7ed3\u679c\u3002\u7a0b\u5e8f\u8fd0\u884c\u5b8c\u6210\u540e\u4f1a\u8f93\u51fa\u4e00\u4e2a .pt \u6587\u4ef6&#xff0c;\u52a1\u5fc5\u8bb0\u5f55\u8be5\u6587\u4ef6\u7684\u5b8c\u6574\u8def\u5f84&#xff0c;\u56e0\u4e3a\u4e0b\u4e00\u6b65 GMR \u9700\u8981\u7528\u5230\u5b83\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/02\/20260225060652-699e917c92d73.png\" alt=\"GVHMR\u8f93\u51fa\u7ed3\u679c\" \/><\/p>\n<p>\u4e0a\u56fe\u5c55\u793a\u4e86 GVHMR \u5904\u7406\u89c6\u9891\u540e\u7684\u8f93\u51fa\u4fe1\u606f&#xff0c;\u53ef\u4ee5\u770b\u5230\u7a0b\u5e8f\u4f1a\u6253\u5370\u51fa .pt \u6587\u4ef6\u7684\u4fdd\u5b58\u8def\u5f84\u3002\u5728\u5b9e\u9645\u64cd\u4f5c\u4e2d&#xff0c;\u5efa\u8bae\u5c06\u89c6\u9891\u6587\u4ef6\u653e\u5728\u9879\u76ee\u76ee\u5f55\u4e0b\u7684\u7edf\u4e00\u4f4d\u7f6e&#xff0c;\u5e76\u4e3a\u6bcf\u4e2a\u89c6\u9891\u5efa\u7acb\u72ec\u7acb\u7684\u8f93\u51fa\u76ee\u5f55&#xff0c;\u65b9\u4fbf\u540e\u7eed\u7ba1\u7406\u591a\u4e2a\u52a8\u4f5c\u6570\u636e\u3002<\/p>\n<p>\u9700\u8981\u7279\u522b\u6ce8\u610f\u7684\u662f&#xff0c;\u8f93\u5165\u89c6\u9891\u7684\u8d28\u91cf\u76f4\u63a5\u5f71\u54cd\u8fd0\u52a8\u63d0\u53d6\u7684\u7cbe\u5ea6\u3002\u7406\u60f3\u7684\u8f93\u5165\u89c6\u9891\u5e94\u5f53\u6ee1\u8db3\u4ee5\u4e0b\u6761\u4ef6&#xff1a;\u753b\u9762\u4e2d\u53ea\u6709\u4e00\u4e2a\u4eba\u3001\u4eba\u7269\u5168\u8eab\u53ef\u89c1\u3001\u80cc\u666f\u76f8\u5bf9\u7b80\u6d01\u3001\u5149\u7167\u5747\u5300\u3002\u5982\u679c\u89c6\u9891\u4e2d\u5b58\u5728\u4e25\u91cd\u906e\u6321\u6216\u591a\u4eba\u4ea4\u53c9&#xff0c;GVHMR \u7684\u8f93\u51fa\u8d28\u91cf\u4f1a\u660e\u663e\u4e0b\u964d&#xff0c;\u8fdb\u800c\u5f71\u54cd\u6574\u6761\u6d41\u7a0b\u7684\u6700\u7ec8\u6548\u679c\u3002<\/p>\n<hr \/>\n<h3>3. GMR&#xff1a;\u5c06\u4eba\u4f53\u8fd0\u52a8\u91cd\u5b9a\u5411\u5230 G1 \u673a\u5668\u4eba<\/h3>\n<h4>3.1 \u4e3a\u4ec0\u4e48\u9700\u8981\u8fd0\u52a8\u91cd\u5b9a\u5411<\/h4>\n<p>\u4eba\u4f53\u6709\u8d85\u8fc7 200 \u5757\u9aa8\u9abc\u548c\u6570\u767e\u4e2a\u81ea\u7531\u5ea6&#xff0c;\u800c Unitree G1 \u673a\u5668\u4eba\u53ea\u6709 23 \u6216 29 \u4e2a\u53ef\u63a7\u5173\u8282\u3002\u4e24\u8005\u5728\u9aa8\u9abc\u62d3\u6251\u7ed3\u6784\u3001\u5173\u8282\u8fd0\u52a8\u8303\u56f4\u3001\u80a2\u4f53\u957f\u5ea6\u6bd4\u4f8b\u4e0a\u90fd\u5b58\u5728\u672c\u8d28\u5dee\u5f02\u3002\u4f8b\u5982&#xff0c;\u4eba\u7c7b\u7684\u80a9\u5173\u8282\u662f\u4e00\u4e2a\u7403\u7a9d\u5173\u8282&#xff0c;\u53ef\u4ee5\u5728\u4e09\u4e2a\u8f74\u4e0a\u81ea\u7531\u65cb\u8f6c&#xff0c;\u800c\u673a\u5668\u4eba\u7684\u80a9\u5173\u8282\u901a\u5e38\u7531\u4e09\u4e2a\u4e32\u8054\u7684\u65cb\u8f6c\u5173\u8282\u6765\u8fd1\u4f3c\u5b9e\u73b0\u3002\u76f4\u63a5\u5c06 SMPLX \u7684\u5173\u8282\u89d2\u5ea6\u8d4b\u503c\u7ed9\u673a\u5668\u4eba\u5173\u8282&#xff0c;\u4e0d\u4ec5\u7269\u7406\u4e0a\u4e0d\u53ef\u884c&#xff0c;\u8fd8\u53ef\u80fd\u5bfc\u81f4\u81ea\u78b0\u649e\u6216\u5173\u8282\u8d85\u9650\u3002<\/p>\n<p>GMR&#xff08;General Motion Retargeting&#xff09;\u901a\u8fc7\u4f18\u5316\u65b9\u6cd5\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u3002\u5b83\u7684\u6838\u5fc3\u601d\u8def\u662f&#xff1a;\u9009\u53d6\u4eba\u4f53\u548c\u673a\u5668\u4eba\u4e4b\u95f4\u5bf9\u5e94\u7684\u5173\u952e\u8eab\u4f53\u90e8\u4f4d&#xff08;\u5982\u624b\u3001\u811a\u3001\u5934\u3001\u8eaf\u5e72&#xff09;&#xff0c;\u901a\u8fc7\u6700\u5c0f\u5316\u8fd9\u4e9b\u5bf9\u5e94\u90e8\u4f4d\u5728\u7b1b\u5361\u5c14\u7a7a\u95f4\u4e2d\u7684\u4f4d\u7f6e\u5dee\u5f02&#xff0c;\u6c42\u89e3\u51fa\u673a\u5668\u4eba\u7684\u5173\u8282\u89d2\u5ea6\u5e8f\u5217\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u4f1a\u81ea\u52a8\u5904\u7406\u9aa8\u9abc\u957f\u5ea6\u5dee\u5f02\u548c\u5173\u8282\u7ea6\u675f&#xff0c;\u786e\u4fdd\u8f93\u51fa\u7684\u673a\u5668\u4eba\u52a8\u4f5c\u5728\u8fd0\u52a8\u5b66\u4e0a\u662f\u53ef\u884c\u7684\u3002<\/p>\n<h4>3.2 \u6570\u636e\u8f6c\u6362&#xff1a;pt \u5230 pkl<\/h4>\n<p>\u7531\u4e8e\u4e0a\u4e00\u6b65\u4f7f\u7528\u7684\u662f GVHMR \u6846\u67b6&#xff0c;\u8fd9\u91cc\u9009\u62e9 GMR \u4e2d\u7684 \u201cRetargeting from GVHMR to Robot\u201d \u65b9\u6cd5\u8fdb\u884c\u91cd\u5b9a\u5411&#xff1a;<\/p>\n<p>python scripts\/gvhmr_to_robot.py <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;gvhmr_pred_file <span class=\"token operator\">&lt;<\/span>path_to_hmr4d_results.pt<span class=\"token operator\">&gt;<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;robot unitree_g1 <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;record_video <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;save_path motions\/G1\/G1.pkl<\/p>\n<p>\u53c2\u6570\u8bf4\u660e&#xff1a;<\/p>\n<ul>\n<li>&#8211;gvhmr_pred_file&#xff1a;\u4e0a\u4e00\u6b65 GVHMR \u751f\u6210\u7684 .pt \u6587\u4ef6\u8def\u5f84<\/li>\n<li>&#8211;robot unitree_g1&#xff1a;\u76ee\u6807\u673a\u5668\u4eba\u578b\u53f7<\/li>\n<li>&#8211;record_video&#xff1a;\u5f55\u5236\u91cd\u5b9a\u5411\u8fc7\u7a0b\u7684\u53ef\u89c6\u5316\u89c6\u9891<\/li>\n<li>&#8211;save_path&#xff1a;\u8f93\u51fa .pkl \u6587\u4ef6\u7684\u4fdd\u5b58\u8def\u5f84&#xff0c;\u52a1\u5fc5\u8bb0\u5f55<\/li>\n<\/ul>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/02\/20260225060652-699e917cc3172.png\" alt=\"GMR\u91cd\u5b9a\u5411\u8fc7\u7a0b\" \/><\/p>\n<p>\u8f6c\u6362\u6210\u529f\u540e&#xff0c;\u7a0b\u5e8f\u4f1a\u81ea\u52a8\u64ad\u653e\u91cd\u5b9a\u5411\u7ed3\u679c\u7684\u53ef\u89c6\u5316\u89c6\u9891&#xff0c;\u53ef\u4ee5\u76f4\u89c2\u5730\u68c0\u67e5\u673a\u5668\u4eba\u52a8\u4f5c\u662f\u5426\u4e0e\u539f\u59cb\u4eba\u4f53\u52a8\u4f5c\u5728\u89c6\u89c9\u4e0a\u4e00\u81f4&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/02\/20260225060653-699e917d22dd2.png\" alt=\"GMR\u91cd\u5b9a\u5411\u53ef\u89c6\u5316\" \/><\/p>\n<h4>3.3 \u6570\u636e\u8f6c\u6362&#xff1a;pkl \u5230 csv<\/h4>\n<p>BeyondMimic \u6846\u67b6\u8981\u6c42\u8f93\u5165\u7684\u53c2\u8003\u52a8\u4f5c\u683c\u5f0f\u4e3a CSV \u6587\u4ef6&#xff0c;\u56e0\u6b64\u9700\u8981\u5c06 GMR \u8f93\u51fa\u7684 .pkl \u6587\u4ef6\u8fdb\u4e00\u6b65\u8f6c\u6362\u3002\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4&#xff1a;<\/p>\n<p>python3 scripts\/batch_gmr_pkl_to_csv.py &#8211;folder \/home\/teacher\/zzw\/GMR\/motions\/G1\/<\/p>\n<p>\u5176\u4e2d &#8211;folder \u53c2\u6570\u6307\u5b9a\u5305\u542b .pkl \u6587\u4ef6\u7684\u76ee\u5f55\u8def\u5f84\u3002\u8f6c\u6362\u540e\u7684 CSV \u6587\u4ef6\u6bcf\u4e00\u884c\u4ee3\u8868\u4e00\u5e27\u6570\u636e&#xff0c;\u683c\u5f0f\u4e3a&#xff1a;<\/p>\n<p>root_pos_x, root_pos_y, root_pos_z, root_quat_x, root_quat_y, root_quat_z, root_quat_w, joint_0, joint_1, &#8230;, joint_N<\/p>\n<p>\u524d 7 \u5217\u662f\u6839\u8282\u70b9&#xff08;\u9aa8\u76c6&#xff09;\u7684\u5168\u5c40\u4f4d\u7f6e\u548c\u56db\u5143\u6570\u671d\u5411&#xff0c;\u540e\u7eed\u5217\u662f\u5404\u5173\u8282\u7684\u89d2\u5ea6\u503c\u3002\u8fd9\u4e2a CSV \u6587\u4ef6\u662f\u6574\u6761\u6d41\u7a0b\u4e2d\u627f\u4e0a\u542f\u4e0b\u7684\u5173\u952e\u6570\u636e\u683c\u5f0f&#xff0c;\u540e\u7eed\u7684 BeyondMimic \u8bad\u7ec3\u548c rl_sar \u90e8\u7f72\u90fd\u4f1a\u7528\u5230\u5b83\u3002<\/p>\n<hr \/>\n<h3>4. BeyondMimic&#xff1a;\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u5168\u6d41\u7a0b<\/h3>\n<h4>4.1 BeyondMimic \u9879\u76ee\u6982\u8ff0<\/h4>\n<p>BeyondMimic \u662f UC \u4f2f\u514b\u5229\u548c\u65af\u5766\u798f\u8054\u5408\u5f00\u6e90\u7684\u4eba\u5f62\u673a\u5668\u4eba\u5168\u8eab\u8fd0\u52a8\u8ffd\u8e2a\u6846\u67b6\u3002\u8be5\u9879\u76ee\u57fa\u4e8e NVIDIA Isaac Lab \u4eff\u771f\u5e73\u53f0&#xff0c;\u4f7f\u7528\u7ecf\u5178\u7684 PPO&#xff08;Proximal Policy Optimization&#xff09;\u7b97\u6cd5\u8bad\u7ec3\u673a\u5668\u4eba\u5728\u7269\u7406\u4eff\u771f\u4e2d\u9ad8\u4fdd\u771f\u5730\u8ddf\u8e2a\u53c2\u8003\u52a8\u4f5c\u3002\u4e0e\u65e9\u671f\u7684\u8fd0\u52a8\u6a21\u4eff\u65b9\u6cd5\u76f8\u6bd4&#xff0c;BeyondMimic \u7684\u6838\u5fc3\u4f18\u52bf\u5728\u4e8e&#xff1a;\u5b83\u4e0d\u4ec5\u80fd\u5904\u7406\u9759\u6001\u6216\u4f4e\u52a8\u6001\u7684\u52a8\u4f5c&#xff0c;\u8fd8\u80fd\u5728\u771f\u5b9e\u786c\u4ef6\u4e0a\u5b9e\u73b0\u8df3\u8dc3\u65cb\u8f6c\u3001\u51b2\u523a\u3001\u4fa7\u624b\u7ffb\u7b49\u9ad8\u5ea6\u52a8\u6001\u7684\u6280\u80fd&#xff0c;\u540c\u65f6\u4fdd\u6301\u4e1a\u754c\u9886\u5148\u7684\u8fd0\u52a8\u8d28\u91cf\u3002<\/p>\n<p>\u5176\u5bf9\u5e94\u8bba\u6587\u4e3a BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion&#xff0c;\u9879\u76ee\u4e3b\u9875\u4e3a beyondmimic.github.io\u3002<\/p>\n<p>\u8be5\u9879\u76ee\u7684\u8bad\u7ec3\u6d41\u7a0b\u5305\u542b\u56db\u4e2a\u6b65\u9aa4&#xff1a;\u6570\u636e\u9884\u5904\u7406&#xff08;csv2npz&#xff09;\u3001\u6570\u636e\u4e0a\u4f20&#xff08;WandB Registry&#xff09;\u3001\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u3001\u4ee5\u53ca\u7b56\u7565\u8bc4\u4f30\u4e0e\u5bfc\u51fa\u3002\u4e0b\u9762\u9010\u4e00\u5c55\u5f00\u3002<\/p>\n<h4>4.2 \u73af\u5883\u914d\u7f6e<\/h4>\n<p>\u6309\u7167 BeyondMimic \u5b98\u65b9\u4ed3\u5e93\u7684\u5b89\u88c5\u6559\u7a0b\u8fdb\u884c\u914d\u7f6e\u3002\u6838\u5fc3\u4f9d\u8d56\u5305\u62ec NVIDIA Isaac Sim 4.5.0\u3001Isaac Lab 2.1.0\u3001RSL-RL \u4ee5\u53ca Python 3.10\u3002\u7531\u4e8e\u8bad\u7ec3\u9700\u8981\u5927\u91cf GPU \u5e76\u884c\u4eff\u771f\u73af\u5883&#xff08;\u9ed8\u8ba4 4096 \u4e2a&#xff09;&#xff0c;\u5efa\u8bae\u4f7f\u7528 RTX 4090 \u6216 A100 \u7ea7\u522b\u7684\u663e\u5361\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/02\/20260225060653-699e917d87640.png\" alt=\"BeyondMimic\u73af\u5883\u914d\u7f6e\" \/><\/p>\n<p>\u6b64\u5916&#xff0c;BeyondMimic \u4f7f\u7528 WandB&#xff08;Weights &amp; Biases&#xff09;\u8fdb\u884c\u8fd0\u52a8\u6570\u636e\u548c\u8bad\u7ec3\u65e5\u5fd7\u7684\u7ba1\u7406\u3002\u5728\u5f00\u59cb\u8bad\u7ec3\u4e4b\u524d&#xff0c;\u9700\u8981\u5148\u6ce8\u518c WandB \u8d26\u53f7&#xff0c;\u521b\u5efa\u4e00\u4e2a Organization&#xff0c;\u5e76\u5728\u672c\u5730\u914d\u7f6e\u597d\u767b\u5f55\u51ed\u8bc1&#xff1a;<\/p>\n<p>pip <span class=\"token function\">install<\/span> wandb<br \/>\nwandb login<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/02\/20260225060653-699e917decd98.png\" alt=\"WandB\u914d\u7f6e\" \/><\/p>\n<h4>4.3 \u6570\u636e\u9884\u5904\u7406&#xff1a;CSV \u8f6c NPZ<\/h4>\n<p>BeyondMimic \u7684\u8bad\u7ec3\u4e0d\u76f4\u63a5\u8bfb\u53d6 CSV \u6587\u4ef6&#xff0c;\u800c\u662f\u9700\u8981\u5148\u5c06\u5176\u8f6c\u6362\u4e3a\u5305\u542b\u5b8c\u6574\u7269\u7406\u4fe1\u606f\u7684 NPZ \u683c\u5f0f\u3002\u8fd9\u4e2a\u8f6c\u6362\u8fc7\u7a0b\u4e0d\u4ec5\u4ec5\u662f\u683c\u5f0f\u53d8\u6362&#xff0c;\u8fd8\u5305\u62ec\u5e27\u7387\u63d2\u503c\u548c\u6b63\u5411\u8fd0\u52a8\u5b66\u8ba1\u7b97\u3002<\/p>\n<p>python scripts\/csv_to_npz.py <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;input_file <span class=\"token punctuation\">{<\/span>motion_name<span class=\"token punctuation\">}<\/span>.csv <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;input_fps <span class=\"token number\">30<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;output_name <span class=\"token punctuation\">{<\/span>motion_name<span class=\"token punctuation\">}<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;headless<\/p>\n<p>\u53c2\u6570\u8bf4\u660e&#xff1a;<\/p>\n<ul>\n<li>&#8211;input_file&#xff1a;\u4e0a\u4e00\u6b65\u751f\u6210\u7684 CSV \u6587\u4ef6\u8def\u5f84<\/li>\n<li>&#8211;input_fps 30&#xff1a;\u8f93\u5165 CSV \u7684\u5e27\u7387&#xff08;\u901a\u5e38\u4e3a 30fps&#xff09;<\/li>\n<li>&#8211;output_name&#xff1a;\u5728 WandB Registry \u4e2d\u7684\u540d\u79f0<\/li>\n<li>&#8211;headless&#xff1a;\u4e0d\u542f\u52a8\u53ef\u89c6\u5316\u7a97\u53e3&#xff08;\u53bb\u6389\u6b64\u53c2\u6570\u53ef\u4ee5\u770b\u5230\u673a\u5668\u4eba\u64ad\u653e\u52a8\u4f5c&#xff09;<\/li>\n<\/ul>\n<p>\u8be5\u811a\u672c\u5185\u90e8\u6267\u884c\u4e86\u4ee5\u4e0b\u5173\u952e\u6b65\u9aa4&#xff1a;\u9996\u5148\u5c06\u52a8\u4f5c\u4ece\u8f93\u5165\u5e27\u7387&#xff08;\u5982 30fps&#xff09;\u63d2\u503c\u5230\u8f93\u51fa\u5e27\u7387&#xff08;50fps&#xff0c;\u5bf9\u5e94 dt&#061;0.005s\u3001decimation&#061;4 \u7684\u63a7\u5236\u9891\u7387&#xff09;&#xff1b;\u7136\u540e\u5728 Isaac Sim \u4e2d\u901a\u8fc7\u6b63\u5411\u8fd0\u52a8\u5b66\u8ba1\u7b97\u6bcf\u4e2a\u8eab\u4f53\u90e8\u4f4d\u7684\u4e16\u754c\u5750\u6807\u7cfb\u4f4d\u7f6e\u3001\u59ff\u6001\u56db\u5143\u6570\u3001\u7ebf\u901f\u5ea6\u548c\u89d2\u901f\u5ea6&#xff1b;\u6700\u540e\u5c06\u6240\u6709\u6570\u636e\u6253\u5305\u4e3a NPZ \u6587\u4ef6\u5e76\u4e0a\u4f20\u5230 WandB Registry\u3002<\/p>\n<p>NPZ \u6587\u4ef6\u5305\u542b\u7684\u6570\u636e\u5b57\u6bb5\u5982\u4e0b&#xff1a;<\/p>\n<p><span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token string\">&#039;fps&#039;<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">50<\/span><span class=\"token punctuation\">,<\/span>                           <span class=\"token comment\"># \u5e27\u7387<\/span><br \/>\n    <span class=\"token string\">&#039;joint_pos&#039;<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span>T<span class=\"token punctuation\">,<\/span> N_joints<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span>          <span class=\"token comment\"># \u5173\u8282\u4f4d\u7f6e\u5e8f\u5217<\/span><br \/>\n    <span class=\"token string\">&#039;joint_vel&#039;<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span>T<span class=\"token punctuation\">,<\/span> N_joints<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span>          <span class=\"token comment\"># \u5173\u8282\u901f\u5ea6\u5e8f\u5217<\/span><br \/>\n    <span class=\"token string\">&#039;body_pos_w&#039;<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span>T<span class=\"token punctuation\">,<\/span> N_bodies<span class=\"token punctuation\">,<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span>      <span class=\"token comment\"># \u5404\u8eab\u4f53\u90e8\u4f4d\u4e16\u754c\u5750\u6807\u4f4d\u7f6e<\/span><br \/>\n    <span class=\"token string\">&#039;body_quat_w&#039;<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span>T<span class=\"token punctuation\">,<\/span> N_bodies<span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span>     <span class=\"token comment\"># \u5404\u8eab\u4f53\u90e8\u4f4d\u4e16\u754c\u5750\u6807\u59ff\u6001<\/span><br \/>\n    <span class=\"token string\">&#039;body_lin_vel_w&#039;<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span>T<span class=\"token punctuation\">,<\/span> N_bodies<span class=\"token punctuation\">,<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span>  <span class=\"token comment\"># \u5404\u8eab\u4f53\u90e8\u4f4d\u7ebf\u901f\u5ea6<\/span><br \/>\n    <span class=\"token string\">&#039;body_ang_vel_w&#039;<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span>T<span class=\"token punctuation\">,<\/span> N_bodies<span class=\"token punctuation\">,<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span>  <span class=\"token comment\"># \u5404\u8eab\u4f53\u90e8\u4f4d\u89d2\u901f\u5ea6<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f&#xff0c;csv_to_npz.py \u7a0b\u5e8f\u662f\u65e0\u9650\u5faa\u73af\u8fd0\u884c\u7684\u2014\u2014\u5b83\u4f1a\u6301\u7eed\u91cd\u590d\u64ad\u653e\u8f6c\u6362\u540e\u7684\u6570\u636e\u3002\u5728\u4e0d\u53ef\u89c6\u5316\u6a21\u5f0f\u4e0b&#xff0c;\u7a0b\u5e8f\u770b\u8d77\u6765\u50cf\u662f\u5361\u4f4f\u4e86&#xff0c;\u5b9e\u9645\u4e0a\u6570\u636e\u5df2\u7ecf\u4e0a\u4f20\u6210\u529f\u3002\u5f53\u7ec8\u7aef\u51fa\u73b0\u7c7b\u4f3c\u4e0b\u56fe\u7684\u4fe1\u606f\u65f6&#xff0c;\u5373\u53ef\u6309 Ctrl&#043;C \u7ec8\u6b62\u8fdb\u7a0b&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/02\/20260225060654-699e917e2e953.png\" alt=\"csv2npz\u4e0a\u4f20\u6210\u529f\" \/><\/p>\n<h4>4.4 \u6570\u636e\u9a8c\u8bc1<\/h4>\n<p>\u5728\u542f\u52a8\u8bad\u7ec3\u4e4b\u524d&#xff0c;\u5efa\u8bae\u5148\u56de\u653e\u4e00\u904d\u4e0a\u4f20\u7684\u6570\u636e&#xff0c;\u786e\u8ba4\u52a8\u4f5c\u6b63\u786e\u65e0\u8bef&#xff0c;\u907f\u514d\u8bad\u7ec3\u9519\u8bef\u7684\u52a8\u4f5c\u6d6a\u8d39\u7b97\u529b&#xff1a;<\/p>\n<p>python scripts\/replay_npz.py <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;registry_name<span class=\"token operator\">&#061;<\/span><span class=\"token punctuation\">{<\/span>your-organization<span class=\"token punctuation\">}<\/span>-org\/wandb-registry-motions\/<span class=\"token punctuation\">{<\/span>motion_name<span class=\"token punctuation\">}<\/span><\/p>\n<h4>4.5 \u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3<\/h4>\n<p>\u6570\u636e\u51c6\u5907\u5c31\u7eea\u540e&#xff0c;\u5373\u53ef\u542f\u52a8\u8bad\u7ec3\u3002BeyondMimic \u4f7f\u7528 RSL-RL \u6846\u67b6\u5b9e\u73b0 PPO \u7b97\u6cd5&#xff0c;\u5728 Isaac Lab \u4e2d\u5e76\u884c\u8fd0\u884c 4096 \u4e2a\u4eff\u771f\u73af\u5883\u8fdb\u884c\u91c7\u6837&#xff1a;<\/p>\n<p>python scripts\/rsl_rl\/train.py <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;task<span class=\"token operator\">&#061;<\/span>Tracking-Flat-G1-v0 <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;registry_name <span class=\"token punctuation\">{<\/span>your-organization<span class=\"token punctuation\">}<\/span>-org\/wandb-registry-motions\/<span class=\"token punctuation\">{<\/span>motion_name<span class=\"token punctuation\">}<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;headless <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;logger wandb <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;log_project_name <span class=\"token punctuation\">{<\/span>project_name<span class=\"token punctuation\">}<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;run_name <span class=\"token punctuation\">{<\/span>run_name<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u5982\u679c\u6700\u7ec8\u76ee\u6807\u662f\u90e8\u7f72\u5230\u771f\u5b9e\u673a\u5668\u4eba\u4e0a&#xff0c;\u9700\u8981\u4f7f\u7528\u4e0d\u4f9d\u8d56\u72b6\u6001\u4f30\u8ba1\u7684\u4efb\u52a1\u53d8\u4f53&#xff0c;\u5c06 task \u53c2\u6570\u6539\u4e3a Tracking-Flat-G1-Wo-State-Estimation-v0&#xff1a;<\/p>\n<p>python scripts\/rsl_rl\/train.py <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;task<span class=\"token operator\">&#061;<\/span>Tracking-Flat-G1-Wo-State-Estimation-v0 <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;registry_name <span class=\"token punctuation\">{<\/span>your-organization<span class=\"token punctuation\">}<\/span>-org\/wandb-registry-motions\/<span class=\"token punctuation\">{<\/span>motion_name<span class=\"token punctuation\">}<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;headless <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;logger wandb <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;log_project_name <span class=\"token punctuation\">{<\/span>project_name<span class=\"token punctuation\">}<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;run_name <span class=\"token punctuation\">{<\/span>run_name<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u4e24\u4e2a task \u7684\u533a\u522b\u5728\u4e8e\u89c2\u6d4b\u7a7a\u95f4\u7684\u8bbe\u8ba1\u3002Wo-State-Estimation \u53d8\u4f53\u7701\u7565\u4e86\u4f9d\u8d56\u5916\u90e8\u5b9a\u4f4d\u7cfb\u7edf\u7684\u7ebf\u6027\u5206\u91cf&#xff08;\u951a\u70b9\u4f4d\u7f6e\u8bef\u5dee\u7684\u5e73\u79fb\u90e8\u5206\u548c\u6839\u90e8\u7ebf\u901f\u5ea6&#xff09;&#xff0c;\u56e0\u4e3a\u8fd9\u4e9b\u4fe1\u606f\u5728\u771f\u5b9e\u673a\u5668\u4eba\u4e0a\u96be\u4ee5\u7cbe\u786e\u83b7\u53d6\u3002\u8bad\u7ec3\u9ed8\u8ba4\u8fed\u4ee3 30000 \u6b21&#xff0c;\u5728 RTX 4090 \u4e0a\u901a\u5e38\u9700\u8981\u6570\u5c0f\u65f6\u3002<\/p>\n<p>\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u7684\u6838\u5fc3\u8d85\u53c2\u6570\u914d\u7f6e\u5982\u4e0b&#xff1a;<\/p>\n<p><span class=\"token comment\"># PPO \u91c7\u6837\u914d\u7f6e<\/span><br \/>\nnum_steps_per_env <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">24<\/span>       <span class=\"token comment\"># \u6bcf\u4e2a\u73af\u5883\u6bcf\u6b21\u91c7\u6837\u7684\u6b65\u6570<\/span><br \/>\nnum_envs <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">4096<\/span>              <span class=\"token comment\"># \u5e76\u884c\u73af\u5883\u6570\u91cf<\/span><\/p>\n<p><span class=\"token comment\"># \u7f51\u7edc\u67b6\u6784<\/span><br \/>\nactor_hidden <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">512<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">256<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">128<\/span><span class=\"token punctuation\">]<\/span>   <span class=\"token comment\"># Actor \u7f51\u7edc\u9690\u85cf\u5c42<\/span><br \/>\ncritic_hidden <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">512<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">256<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">128<\/span><span class=\"token punctuation\">]<\/span>  <span class=\"token comment\"># Critic \u7f51\u7edc\u9690\u85cf\u5c42<\/span><br \/>\nactivation <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#034;elu&#034;<\/span>               <span class=\"token comment\"># \u6fc0\u6d3b\u51fd\u6570<\/span><\/p>\n<p><span class=\"token comment\"># PPO \u4f18\u5316\u53c2\u6570<\/span><br \/>\nlearning_rate <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1e-3<\/span>         <span class=\"token comment\"># \u521d\u59cb\u5b66\u4e60\u7387&#xff08;\u81ea\u9002\u5e94\u8c03\u6574&#xff09;<\/span><br \/>\nclip_param <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.2<\/span>             <span class=\"token comment\"># PPO \u88c1\u526a\u53c2\u6570<\/span><br \/>\nentropy_coef <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.005<\/span>         <span class=\"token comment\"># \u71b5\u6b63\u5219\u5316\u7cfb\u6570<\/span><br \/>\nnum_learning_epochs <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">5<\/span>      <span class=\"token comment\"># \u6bcf\u6b21\u8fed\u4ee3\u7684\u8bad\u7ec3\u8f6e\u6570<\/span><br \/>\nnum_mini_batches <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">4<\/span>         <span class=\"token comment\"># \u6bcf\u8f6e\u7684 mini-batch \u6570<\/span><br \/>\ngamma <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.99<\/span>                 <span class=\"token comment\"># \u6298\u6263\u56e0\u5b50<\/span><br \/>\nlam <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.95<\/span>                   <span class=\"token comment\"># GAE lambda<\/span><br \/>\ndesired_kl <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.01<\/span>            <span class=\"token comment\"># \u76ee\u6807 KL \u6563\u5ea6<\/span><\/p>\n<h4>4.6 \u7b56\u7565\u8bc4\u4f30\u4e0e\u5bfc\u51fa<\/h4>\n<p>\u8bad\u7ec3\u5b8c\u6210\u540e&#xff0c;\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u52a0\u8f7d\u6a21\u578b\u5e76\u5728\u4eff\u771f\u4e2d\u8bc4\u4f30\u6548\u679c&#xff1a;<\/p>\n<p>python scripts\/rsl_rl\/play.py <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;task<span class=\"token operator\">&#061;<\/span>Tracking-Flat-G1-v0 <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;num_envs<span class=\"token operator\">&#061;<\/span><span class=\"token number\">2<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;wandb_path<span class=\"token operator\">&#061;<\/span><span class=\"token punctuation\">{<\/span>wandb-run-path<span class=\"token punctuation\">}<\/span><\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/02\/20260225060654-699e917e4ea1d.png\" alt=\"BeyondMimic\u8bc4\u6d4b\u6548\u679c\" \/><\/p>\n<p>\u8bc4\u4f30\u811a\u672c\u4f1a\u81ea\u52a8\u4ece WandB \u4e0b\u8f7d\u8bad\u7ec3\u597d\u7684\u6a21\u578b\u548c\u5bf9\u5e94\u7684\u53c2\u8003\u52a8\u4f5c&#xff0c;\u5728\u4eff\u771f\u4e2d\u8fd0\u884c\u7b56\u7565\u5e76\u5f55\u5236\u89c6\u9891\u3002\u540c\u65f6&#xff0c;\u811a\u672c\u4f1a\u5c06\u7b56\u7565\u5bfc\u51fa\u4e3a ONNX \u683c\u5f0f&#xff0c;\u7528\u4e8e\u540e\u7eed\u5728 rl_sar \u4e2d\u90e8\u7f72&#xff1a;<\/p>\n<p><span class=\"token comment\"># play.py \u5185\u90e8\u7684\u5bfc\u51fa\u903b\u8f91<\/span><br \/>\nexport_motion_policy_as_onnx<span class=\"token punctuation\">(<\/span><br \/>\n    env<span class=\"token punctuation\">,<\/span> policy<span class=\"token punctuation\">,<\/span><br \/>\n    path<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;logs\/&#8230;\/exported\/&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    filename<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;policy.onnx&#034;<\/span><br \/>\n<span class=\"token punctuation\">)<\/span><\/p>\n<p>\u5bfc\u51fa\u7684 ONNX \u6a21\u578b\u5305\u542b\u4e86\u89c2\u6d4b\u5f52\u4e00\u5316\u5c42\u548c\u7b56\u7565\u7f51\u7edc&#xff0c;\u53ef\u4ee5\u76f4\u63a5\u88ab C&#043;&#043; \u7684 onnxruntime \u52a0\u8f7d\u6267\u884c\u3002<\/p>\n<hr \/>\n<h3>5. BeyondMimic \u7b97\u6cd5\u6df1\u5ea6\u89e3\u6790<\/h3>\n<p>\u524d\u9762\u4ecb\u7ecd\u4e86 BeyondMimic \u7684\u64cd\u4f5c\u6d41\u7a0b&#xff0c;\u4f46\u8981\u771f\u6b63\u7406\u89e3\u8fd9\u4e2a\u7cfb\u7edf\u4e3a\u4ec0\u4e48\u80fd\u8ba9\u673a\u5668\u4eba\u9ad8\u4fdd\u771f\u5730\u590d\u73b0\u4eba\u7c7b\u52a8\u4f5c&#xff0c;\u9700\u8981\u6df1\u5165\u5176\u7b97\u6cd5\u8bbe\u8ba1\u7684\u6838\u5fc3\u3002\u672c\u8282\u5c06\u4ece\u89c2\u6d4b\u7a7a\u95f4\u3001\u5956\u52b1\u51fd\u6570\u3001\u81ea\u9002\u5e94\u91c7\u6837\u548c\u57df\u968f\u673a\u5316\u56db\u4e2a\u7ef4\u5ea6\u5c55\u5f00\u5206\u6790\u3002<\/p>\n<h4>5.1 \u89c2\u6d4b\u7a7a\u95f4\u8bbe\u8ba1<\/h4>\n<p>\u5f3a\u5316\u5b66\u4e60\u7b56\u7565\u7684\u8f93\u5165\u2014\u2014\u89c2\u6d4b\u7a7a\u95f4&#xff08;observation space&#xff09;\u2014\u2014\u51b3\u5b9a\u4e86\u7b56\u7565\u80fd&#034;\u770b\u5230&#034;\u4ec0\u4e48\u4fe1\u606f\u3002BeyondMimic \u7684\u89c2\u6d4b\u7a7a\u95f4\u8bbe\u8ba1\u4f53\u73b0\u4e86\u4e00\u4e2a\u5173\u952e\u7684\u5de5\u7a0b\u6743\u8861&#xff1a;\u4fe1\u606f\u91cf\u8d8a\u5927&#xff0c;\u7b56\u7565\u7406\u8bba\u4e0a\u80fd\u505a\u51fa\u8d8a\u7cbe\u786e\u7684\u51b3\u7b56&#xff0c;\u4f46\u540c\u65f6\u4e5f\u589e\u52a0\u4e86\u8bad\u7ec3\u96be\u5ea6\u548c\u5bf9\u4f20\u611f\u5668\u7684\u4f9d\u8d56\u3002<\/p>\n<p>\u5bf9\u4e8e G1 29DoF \u673a\u5668\u4eba&#xff0c;\u5b8c\u6574\u7684\u89c2\u6d4b\u5411\u91cf\u7ef4\u5ea6\u4e3a 154&#xff0c;\u7531\u4ee5\u4e0b\u516d\u4e2a\u90e8\u5206\u62fc\u63a5\u800c\u6210&#xff1a;<\/p>\n<p>\u89c2\u6d4b\u5411\u91cf (154\u7ef4) &#061; motion_command (58) &#043; motion_anchor_ori_b (6) &#043; ang_vel (3) &#043; dof_pos (29) &#043; dof_vel (29) &#043; actions (29)<\/p>\n<p>\u5404\u5206\u91cf\u7684\u542b\u4e49\u5982\u4e0b&#xff1a;<\/p>\n<ul>\n<li>\n<p>motion_command&#xff08;58\u7ef4&#xff09;&#xff1a;\u53c2\u8003\u52a8\u4f5c\u7684\u5173\u8282\u4f4d\u7f6e\u548c\u5173\u8282\u901f\u5ea6&#xff0c;\u7ef4\u5ea6\u4e3a num_of_dofs * 2\u3002\u8fd9\u662f\u7b56\u7565\u7684&#034;\u76ee\u6807\u4fe1\u53f7&#034;&#xff0c;\u544a\u8bc9\u7b56\u7565\u5f53\u524d\u65f6\u523b\u673a\u5668\u4eba\u7684\u5404\u5173\u8282\u5e94\u8be5\u5904\u4e8e\u4ec0\u4e48\u4f4d\u7f6e\u3001\u4ee5\u4ec0\u4e48\u901f\u5ea6\u8fd0\u52a8\u3002\u8fd9\u4e9b\u6570\u636e\u6765\u81ea\u9884\u5904\u7406\u9636\u6bb5\u751f\u6210\u7684 NPZ \u6587\u4ef6&#xff0c;\u5728\u8bad\u7ec3\u65f6\u7531\u4eff\u771f\u73af\u5883\u6309\u65f6\u95f4\u6b65\u7d22\u5f15\u63d0\u4f9b\u3002<\/p>\n<\/li>\n<li>\n<p>motion_anchor_ori_b&#xff08;6\u7ef4&#xff09;&#xff1a;\u951a\u70b9&#xff08;\u8eaf\u5e72&#xff09;\u7684\u671d\u5411\u8bef\u5dee&#xff0c;\u7528 6D \u65cb\u8f6c\u8868\u793a\u6cd5\u7f16\u7801\u3002\u8fd9\u4e2a\u5206\u91cf\u63cf\u8ff0\u4e86\u5f53\u524d\u673a\u5668\u4eba\u8eaf\u5e72\u671d\u5411\u4e0e\u53c2\u8003\u52a8\u4f5c\u8eaf\u5e72\u671d\u5411\u4e4b\u95f4\u7684\u5dee\u5f02\u3002\u4f7f\u7528 6D \u8868\u793a\u800c\u975e\u56db\u5143\u6570\u6216\u6b27\u62c9\u89d2&#xff0c;\u662f\u56e0\u4e3a 6D \u8868\u793a\u5728\u65cb\u8f6c\u7a7a\u95f4\u4e2d\u662f\u8fde\u7eed\u7684&#xff0c;\u907f\u514d\u4e86\u56db\u5143\u6570\u7684\u53cc\u8986\u76d6\u95ee\u9898\u548c\u6b27\u62c9\u89d2\u7684\u4e07\u5411\u9501\u95ee\u9898&#xff0c;\u6709\u5229\u4e8e\u795e\u7ecf\u7f51\u7edc\u7684\u5b66\u4e60\u3002<\/p>\n<\/li>\n<li>\n<p>ang_vel&#xff08;3\u7ef4&#xff09;&#xff1a;\u673a\u5668\u4eba\u57fa\u5ea7\u7684\u89d2\u901f\u5ea6&#xff0c;\u6765\u81ea IMU \u9640\u87ba\u4eea\u3002\u8fd9\u4e2a\u4fe1\u53f7\u5e2e\u52a9\u7b56\u7565\u611f\u77e5\u81ea\u8eab\u7684\u65cb\u8f6c\u72b6\u6001&#xff0c;\u5bf9\u4e8e\u7ef4\u6301\u5e73\u8861\u81f3\u5173\u91cd\u8981\u3002<\/p>\n<\/li>\n<li>\n<p>dof_pos&#xff08;29\u7ef4&#xff09;&#xff1a;\u5f53\u524d\u5404\u5173\u8282\u7684\u5b9e\u9645\u4f4d\u7f6e&#xff08;\u5f27\u5ea6&#xff09;&#xff0c;\u6765\u81ea\u5173\u8282\u7f16\u7801\u5668\u3002<\/p>\n<\/li>\n<li>\n<p>dof_vel&#xff08;29\u7ef4&#xff09;&#xff1a;\u5f53\u524d\u5404\u5173\u8282\u7684\u5b9e\u9645\u901f\u5ea6&#xff0c;\u6765\u81ea\u5173\u8282\u7f16\u7801\u5668\u7684\u5dee\u5206\u6216\u76f4\u63a5\u6d4b\u91cf\u3002<\/p>\n<\/li>\n<li>\n<p>actions&#xff08;29\u7ef4&#xff09;&#xff1a;\u4e0a\u4e00\u65f6\u95f4\u6b65\u7b56\u7565\u8f93\u51fa\u7684\u52a8\u4f5c&#xff0c;\u5373\u4e0a\u4e00\u6b65\u7684\u5173\u8282\u4f4d\u7f6e\u76ee\u6807\u3002\u5c06\u5386\u53f2\u52a8\u4f5c\u4f5c\u4e3a\u89c2\u6d4b\u7684\u4e00\u90e8\u5206&#xff0c;\u53ef\u4ee5\u5e2e\u52a9\u7b56\u7565\u5b66\u4e60\u5230\u52a8\u4f5c\u7684\u65f6\u5e8f\u8fde\u8d2f\u6027&#xff0c;\u907f\u514d\u8f93\u51fa\u5267\u70c8\u6296\u52a8\u7684\u63a7\u5236\u4fe1\u53f7\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u5bf9\u4e8e 23DoF \u7684 G1 \u53d8\u4f53&#xff0c;\u89c2\u6d4b\u7ef4\u5ea6\u76f8\u5e94\u7f29\u51cf\u4e3a 124 \u7ef4&#xff08;46 &#043; 6 &#043; 3 &#043; 23 &#043; 23 &#043; 23&#xff09;\u3002<\/p>\n<p>\u503c\u5f97\u6ce8\u610f\u7684\u662f&#xff0c;BeyondMimic \u63d0\u4f9b\u4e86\u4e24\u79cd\u4efb\u52a1\u53d8\u4f53&#xff1a;Tracking-Flat-G1-v0 \u548c Tracking-Flat-G1-Wo-State-Estimation-v0\u3002\u540e\u8005\u7701\u7565\u4e86\u951a\u70b9\u4f4d\u7f6e\u8bef\u5dee\u7684\u5e73\u79fb\u5206\u91cf\u548c\u6839\u90e8\u7ebf\u901f\u5ea6&#xff0c;\u56e0\u4e3a\u8fd9\u4e9b\u4fe1\u606f\u4f9d\u8d56\u5916\u90e8\u5b9a\u4f4d\u7cfb\u7edf&#xff08;\u5982\u52a8\u6355\u6216 SLAM&#xff09;&#xff0c;\u5728\u771f\u5b9e\u673a\u5668\u4eba\u4e0a\u96be\u4ee5\u7cbe\u786e\u83b7\u53d6\u3002\u5982\u679c\u6700\u7ec8\u76ee\u6807\u662f\u771f\u673a\u90e8\u7f72&#xff0c;\u5e94\u5f53\u9009\u62e9 Wo-State-Estimation \u53d8\u4f53\u8fdb\u884c\u8bad\u7ec3\u3002<\/p>\n<h4>5.2 \u5956\u52b1\u51fd\u6570\u8bbe\u8ba1<\/h4>\n<p>\u5956\u52b1\u51fd\u6570\u662f\u5f3a\u5316\u5b66\u4e60\u7684\u7075\u9b42&#xff0c;\u5b83\u5b9a\u4e49\u4e86&#034;\u4ec0\u4e48\u662f\u597d\u7684\u884c\u4e3a&#034;\u3002BeyondMimic \u7684\u5956\u52b1\u51fd\u6570\u7531\u591a\u4e2a\u5b50\u9879\u52a0\u6743\u6c42\u548c\u6784\u6210&#xff0c;\u6bcf\u4e2a\u5b50\u9879\u8d1f\u8d23\u7ea6\u675f\u673a\u5668\u4eba\u884c\u4e3a\u7684\u4e00\u4e2a\u65b9\u9762\u3002\u4ee5\u4e0b\u662f\u6838\u5fc3\u5956\u52b1\u9879\u53ca\u5176\u7269\u7406\u542b\u4e49&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u5173\u8282\u4f4d\u7f6e\u8ddf\u8e2a\u5956\u52b1<\/span><br \/>\nr_joint_pos <span class=\"token operator\">&#061;<\/span> exp<span class=\"token punctuation\">(<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token number\">5.0<\/span> <span class=\"token operator\">*<\/span> <span class=\"token operator\">|<\/span><span class=\"token operator\">|<\/span>q_actual <span class=\"token operator\">&#8211;<\/span> q_ref<span class=\"token operator\">|<\/span><span class=\"token operator\">|<\/span><span class=\"token operator\">^<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u5173\u8282\u901f\u5ea6\u8ddf\u8e2a\u5956\u52b1<\/span><br \/>\nr_joint_vel <span class=\"token operator\">&#061;<\/span> exp<span class=\"token punctuation\">(<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token number\">0.1<\/span> <span class=\"token operator\">*<\/span> <span class=\"token operator\">|<\/span><span class=\"token operator\">|<\/span>dq_actual <span class=\"token operator\">&#8211;<\/span> dq_ref<span class=\"token operator\">|<\/span><span class=\"token operator\">|<\/span><span class=\"token operator\">^<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u8eab\u4f53\u90e8\u4f4d\u4f4d\u7f6e\u8ddf\u8e2a\u5956\u52b1&#xff08;\u5173\u952e\u8eab\u4f53\u90e8\u4f4d\u5728\u7b1b\u5361\u5c14\u7a7a\u95f4\u7684\u4f4d\u7f6e\u8bef\u5dee&#xff09;<\/span><br \/>\nr_body_pos <span class=\"token operator\">&#061;<\/span> exp<span class=\"token punctuation\">(<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token number\">40.0<\/span> <span class=\"token operator\">*<\/span> <span class=\"token operator\">|<\/span><span class=\"token operator\">|<\/span>p_body_actual <span class=\"token operator\">&#8211;<\/span> p_body_ref<span class=\"token operator\">|<\/span><span class=\"token operator\">|<\/span><span class=\"token operator\">^<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u8eab\u4f53\u90e8\u4f4d\u671d\u5411\u8ddf\u8e2a\u5956\u52b1<\/span><br \/>\nr_body_rot <span class=\"token operator\">&#061;<\/span> exp<span class=\"token punctuation\">(<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token number\">10.0<\/span> <span class=\"token operator\">*<\/span> <span class=\"token operator\">|<\/span><span class=\"token operator\">|<\/span>quat_body_actual <span class=\"token operator\">&#8211;<\/span> quat_body_ref<span class=\"token operator\">|<\/span><span class=\"token operator\">|<\/span><span class=\"token operator\">^<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u80fd\u91cf\u60e9\u7f5a&#xff08;\u9f13\u52b1\u8282\u80fd\u7684\u63a7\u5236\u7b56\u7565&#xff09;<\/span><br \/>\nr_energy <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&#8211;<\/span>k_energy <span class=\"token operator\">*<\/span> <span class=\"token builtin\">sum<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">|<\/span>tau <span class=\"token operator\">*<\/span> dq<span class=\"token operator\">|<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u52a8\u4f5c\u5e73\u6ed1\u5ea6\u60e9\u7f5a&#xff08;\u6291\u5236\u63a7\u5236\u4fe1\u53f7\u7684\u5267\u70c8\u53d8\u5316&#xff09;<\/span><br \/>\nr_smooth <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&#8211;<\/span>k_smooth <span class=\"token operator\">*<\/span> <span class=\"token operator\">|<\/span><span class=\"token operator\">|<\/span>a_t <span class=\"token operator\">&#8211;<\/span> a_<span class=\"token punctuation\">{<\/span>t<span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">}<\/span><span class=\"token operator\">|<\/span><span class=\"token operator\">|<\/span><span class=\"token operator\">^<\/span><span class=\"token number\">2<\/span><\/p>\n<p>\u8fd9\u4e9b\u5956\u52b1\u9879\u7684\u8bbe\u8ba1\u9075\u5faa\u4e86\u51e0\u4e2a\u91cd\u8981\u539f\u5219\u3002\u9996\u5148&#xff0c;\u6240\u6709\u8ddf\u8e2a\u5956\u52b1\u90fd\u4f7f\u7528\u6307\u6570\u51fd\u6570 exp(-k * error^2) \u7684\u5f62\u5f0f&#xff0c;\u800c\u975e\u7b80\u5355\u7684\u7ebf\u6027\u60e9\u7f5a\u3002\u6307\u6570\u5f62\u5f0f\u7684\u4f18\u52bf\u5728\u4e8e&#xff1a;\u5f53\u8bef\u5dee\u8f83\u5c0f\u65f6&#xff0c;\u5956\u52b1\u63a5\u8fd1 1&#xff0c;\u68af\u5ea6\u8f83\u5c0f&#xff0c;\u7b56\u7565\u4e0d\u4f1a\u8fc7\u5ea6\u4fee\u6b63&#xff1b;\u5f53\u8bef\u5dee\u8f83\u5927\u65f6&#xff0c;\u5956\u52b1\u8fc5\u901f\u8870\u51cf\u5230 0&#xff0c;\u63d0\u4f9b\u5f3a\u70c8\u7684\u7ea0\u6b63\u4fe1\u53f7\u3002\u8fd9\u79cd&#034;\u8f6f\u7ea6\u675f&#034;\u6bd4\u786c\u6027\u7684\u9608\u503c\u60e9\u7f5a\u66f4\u6709\u5229\u4e8e\u7b56\u7565\u7684\u5e73\u6ed1\u6536\u655b\u3002<\/p>\n<p>\u5176\u6b21&#xff0c;\u4e0d\u540c\u5956\u52b1\u9879\u7684\u7cfb\u6570&#xff08;\u5982\u5173\u8282\u4f4d\u7f6e\u7684 5.0\u3001\u8eab\u4f53\u4f4d\u7f6e\u7684 40.0&#xff09;\u53cd\u6620\u4e86\u5404\u9879\u7684\u76f8\u5bf9\u91cd\u8981\u6027\u3002\u8eab\u4f53\u4f4d\u7f6e\u7684\u7cfb\u6570\u8fdc\u5927\u4e8e\u5173\u8282\u4f4d\u7f6e&#xff0c;\u610f\u5473\u7740\u7cfb\u7edf\u66f4\u5173\u6ce8\u672b\u7aef\u6267\u884c\u5668&#xff08;\u624b\u3001\u811a&#xff09;\u5728\u7a7a\u95f4\u4e2d\u7684\u7edd\u5bf9\u4f4d\u7f6e\u662f\u5426\u6b63\u786e&#xff0c;\u800c\u975e\u6bcf\u4e2a\u5173\u8282\u89d2\u5ea6\u662f\u5426\u7cbe\u786e\u5339\u914d\u3002\u8fd9\u7b26\u5408\u8fd0\u52a8\u63a7\u5236\u7684\u76f4\u89c9&#xff1a;\u89c2\u4f17\u770b\u5230\u7684\u662f\u624b\u811a\u7684\u8f68\u8ff9&#xff0c;\u800c\u975e\u8098\u5173\u8282\u7684\u89d2\u5ea6\u3002<\/p>\n<h4>5.3 \u81ea\u9002\u5e94\u91c7\u6837\u673a\u5236<\/h4>\n<p>BeyondMimic \u5f15\u5165\u4e86\u4e00\u79cd\u81ea\u9002\u5e94\u91c7\u6837&#xff08;Adaptive Sampling&#xff09;\u673a\u5236\u6765\u63d0\u5347\u8bad\u7ec3\u6548\u7387\u3002\u4f20\u7edf\u7684\u8fd0\u52a8\u6a21\u4eff\u8bad\u7ec3\u4e2d&#xff0c;\u6bcf\u4e2a episode \u4ece\u53c2\u8003\u52a8\u4f5c\u7684\u968f\u673a\u65f6\u95f4\u70b9\u5f00\u59cb&#xff0c;\u6240\u6709\u65f6\u95f4\u70b9\u88ab\u5747\u5300\u91c7\u6837\u3002\u4f46\u5b9e\u9645\u4e0a&#xff0c;\u53c2\u8003\u52a8\u4f5c\u4e2d\u4e0d\u540c\u7247\u6bb5\u7684\u96be\u5ea6\u5dee\u5f02\u5f88\u5927\u2014\u2014\u7ad9\u7acb\u548c\u884c\u8d70\u76f8\u5bf9\u7b80\u5355&#xff0c;\u800c\u8df3\u8dc3\u548c\u65cb\u8f6c\u5219\u56f0\u96be\u5f97\u591a\u3002\u5747\u5300\u91c7\u6837\u4f1a\u5bfc\u81f4\u7b56\u7565\u5728\u7b80\u5355\u7247\u6bb5\u4e0a\u6d6a\u8d39\u5927\u91cf\u8bad\u7ec3\u8d44\u6e90&#xff0c;\u800c\u5728\u56f0\u96be\u7247\u6bb5\u4e0a\u91c7\u6837\u4e0d\u8db3\u3002<\/p>\n<p>\u81ea\u9002\u5e94\u91c7\u6837\u7684\u6838\u5fc3\u601d\u8def\u662f&#xff1a;\u8bb0\u5f55\u6bcf\u4e2a\u65f6\u95f4\u70b9\u7684\u8bad\u7ec3\u5931\u8d25\u7387&#xff0c;\u5bf9\u5931\u8d25\u7387\u9ad8\u7684\u65f6\u95f4\u70b9\u589e\u52a0\u91c7\u6837\u6982\u7387\u3002\u5177\u4f53\u5b9e\u73b0\u5982\u4e0b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u81ea\u9002\u5e94\u91c7\u6837\u4f2a\u4ee3\u7801<\/span><br \/>\n<span class=\"token keyword\">for<\/span> each training iteration<span class=\"token punctuation\">:<\/span><br \/>\n    <span class=\"token comment\"># 1. \u6839\u636e\u5f53\u524d\u5931\u8d25\u7387\u5206\u5e03\u91c7\u6837\u8d77\u59cb\u65f6\u95f4\u70b9<\/span><br \/>\n    start_times <span class=\"token operator\">&#061;<\/span> sample_with_bias<span class=\"token punctuation\">(<\/span>failure_rates<span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token comment\"># 2. \u8fd0\u884c\u4eff\u771f&#xff0c;\u6536\u96c6\u8f68\u8ff9<\/span><br \/>\n    trajectories <span class=\"token operator\">&#061;<\/span> simulate<span class=\"token punctuation\">(<\/span>policy<span class=\"token punctuation\">,<\/span> start_times<span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token comment\"># 3. \u66f4\u65b0\u5931\u8d25\u7387\u7edf\u8ba1<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> t <span class=\"token keyword\">in<\/span> start_times<span class=\"token punctuation\">:<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> episode_terminated_early<span class=\"token punctuation\">(<\/span>t<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n            failure_rates<span class=\"token punctuation\">[<\/span>t<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#043;&#061;<\/span> alpha  <span class=\"token comment\"># \u589e\u52a0\u5931\u8d25\u8ba1\u6570<\/span><br \/>\n        <span class=\"token keyword\">else<\/span><span class=\"token punctuation\">:<\/span><br \/>\n            failure_rates<span class=\"token punctuation\">[<\/span>t<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">*&#061;<\/span> decay  <span class=\"token comment\"># \u8870\u51cf\u6210\u529f\u8ba1\u6570<\/span><\/p>\n<p>    <span class=\"token comment\"># 4. \u5f52\u4e00\u5316\u4e3a\u91c7\u6837\u6982\u7387<\/span><br \/>\n    sampling_probs <span class=\"token operator\">&#061;<\/span> normalize<span class=\"token punctuation\">(<\/span>failure_rates<span class=\"token punctuation\">)<\/span><\/p>\n<p>\u8fd9\u79cd\u673a\u5236\u4f7f\u5f97\u8bad\u7ec3\u8d44\u6e90\u81ea\u52a8\u5411\u56f0\u96be\u7247\u6bb5\u503e\u659c&#xff0c;\u663e\u8457\u52a0\u901f\u4e86\u6574\u4f53\u6536\u655b\u901f\u5ea6\u3002\u5728\u5b9e\u9a8c\u4e2d&#xff0c;\u81ea\u9002\u5e94\u91c7\u6837\u76f8\u6bd4\u5747\u5300\u91c7\u6837\u53ef\u4ee5\u5c06\u8fbe\u5230\u76f8\u540c\u8ddf\u8e2a\u7cbe\u5ea6\u6240\u9700\u7684\u8bad\u7ec3\u8fed\u4ee3\u6b21\u6570\u51cf\u5c11 30%-50%\u3002<\/p>\n<h4>5.4 \u57df\u968f\u673a\u5316<\/h4>\n<p>\u4ece\u4eff\u771f\u5230\u771f\u5b9e&#xff08;sim-to-real&#xff09;\u7684\u8fc1\u79fb\u662f\u5f3a\u5316\u5b66\u4e60\u90e8\u7f72\u7684\u6838\u5fc3\u6311\u6218\u3002\u4eff\u771f\u73af\u5883\u4e0e\u771f\u5b9e\u4e16\u754c\u4e4b\u95f4\u5b58\u5728\u4e0d\u53ef\u907f\u514d\u7684\u5dee\u5f02\u2014\u2014\u7269\u7406\u53c2\u6570\u7684\u4e0d\u7cbe\u786e\u3001\u4f20\u611f\u5668\u566a\u58f0\u3001\u6267\u884c\u5668\u5ef6\u8fdf\u7b49\u3002BeyondMimic \u901a\u8fc7\u57df\u968f\u673a\u5316&#xff08;Domain Randomization&#xff09;\u6765\u5f25\u5408\u8fd9\u4e2a\u5dee\u8ddd&#xff0c;\u5176\u6838\u5fc3\u601d\u60f3\u662f&#xff1a;\u5728\u8bad\u7ec3\u65f6\u968f\u673a\u6270\u52a8\u4eff\u771f\u73af\u5883\u7684\u7269\u7406\u53c2\u6570&#xff0c;\u8feb\u4f7f\u7b56\u7565\u5b66\u4e60\u5230\u5bf9\u8fd9\u4e9b\u53c2\u6570\u53d8\u5316\u5177\u6709\u9c81\u68d2\u6027\u7684\u63a7\u5236\u7b56\u7565\u3002<\/p>\n<p>BeyondMimic \u4e2d\u4f7f\u7528\u7684\u57df\u968f\u673a\u5316\u53c2\u6570\u5305\u62ec&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u57df\u968f\u673a\u5316\u914d\u7f6e<\/span><br \/>\nrandomize_friction <span class=\"token operator\">&#061;<\/span> <span class=\"token boolean\">True<\/span>          <span class=\"token comment\"># \u5730\u9762\u6469\u64e6\u7cfb\u6570\u968f\u673a\u5316<\/span><br \/>\nfriction_range <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0.5<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1.25<\/span><span class=\"token punctuation\">]<\/span>       <span class=\"token comment\"># \u6469\u64e6\u7cfb\u6570\u8303\u56f4<\/span><\/p>\n<p>randomize_base_mass <span class=\"token operator\">&#061;<\/span> <span class=\"token boolean\">True<\/span>         <span class=\"token comment\"># \u57fa\u5ea7\u8d28\u91cf\u968f\u673a\u5316<\/span><br \/>\nadded_mass_range <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1.0<\/span><span class=\"token punctuation\">]<\/span>     <span class=\"token comment\"># \u9644\u52a0\u8d28\u91cf\u8303\u56f4 (kg)<\/span><\/p>\n<p>randomize_com_offset <span class=\"token operator\">&#061;<\/span> <span class=\"token boolean\">True<\/span>        <span class=\"token comment\"># \u8d28\u5fc3\u504f\u79fb\u968f\u673a\u5316<\/span><br \/>\ncom_offset_range <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token number\">0.05<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.05<\/span><span class=\"token punctuation\">]<\/span>   <span class=\"token comment\"># \u8d28\u5fc3\u504f\u79fb\u8303\u56f4 (m)<\/span><\/p>\n<p>push_robots <span class=\"token operator\">&#061;<\/span> <span class=\"token boolean\">True<\/span>                 <span class=\"token comment\"># \u968f\u673a\u63a8\u529b\u6270\u52a8<\/span><br \/>\npush_interval_s <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">15<\/span>               <span class=\"token comment\"># \u63a8\u529b\u95f4\u9694 (\u79d2)<\/span><br \/>\nmax_push_vel_xy <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.5<\/span>              <span class=\"token comment\"># \u6700\u5927\u63a8\u529b\u901f\u5ea6 (m\/s)<\/span><\/p>\n<p>randomize_joint_default_pos <span class=\"token operator\">&#061;<\/span> <span class=\"token boolean\">True<\/span> <span class=\"token comment\"># \u5173\u8282\u9ed8\u8ba4\u4f4d\u7f6e\u968f\u673a\u5316<\/span><br \/>\njoint_default_pos_range <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token number\">0.05<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.05<\/span><span class=\"token punctuation\">]<\/span>  <span class=\"token comment\"># \u504f\u79fb\u8303\u56f4 (rad)<\/span><\/p>\n<p>\u8fd9\u4e9b\u968f\u673a\u5316\u53c2\u6570\u7684\u9009\u62e9\u5e76\u975e\u968f\u610f\u7684\u3002\u6469\u64e6\u7cfb\u6570\u7684\u968f\u673a\u5316\u8303\u56f4 [0.5, 1.25] \u8986\u76d6\u4e86\u4ece\u5149\u6ed1\u74f7\u7816\u5230\u7c97\u7cd9\u5730\u6bef\u7684\u5e38\u89c1\u5730\u9762\u6761\u4ef6\u3002\u8d28\u5fc3\u504f\u79fb\u6a21\u62df\u4e86\u673a\u5668\u4eba\u8d1f\u8f7d\u53d8\u5316\u6216\u7ec4\u88c5\u8bef\u5dee\u3002\u968f\u673a\u63a8\u529b\u5219\u6a21\u62df\u4e86\u5916\u90e8\u5e72\u6270&#xff0c;\u5982\u88ab\u8f7b\u5fae\u78b0\u649e\u3002\u5173\u8282\u9ed8\u8ba4\u4f4d\u7f6e\u7684\u968f\u673a\u5316\u5219\u8865\u507f\u4e86\u5173\u8282\u7f16\u7801\u5668\u7684\u96f6\u70b9\u6f02\u79fb\u3002<\/p>\n<p>\u901a\u8fc7\u5728\u8bad\u7ec3\u4e2d\u66b4\u9732\u4e8e\u8fd9\u4e9b\u968f\u673a\u5316\u7684\u73af\u5883\u6761\u4ef6&#xff0c;\u7b56\u7565\u5b66\u4f1a\u4e86\u5728\u4e0d\u786e\u5b9a\u6027\u4e0b\u4fdd\u6301\u7a33\u5b9a\u7684\u63a7\u5236\u80fd\u529b&#xff0c;\u8fd9\u662f\u6210\u529f\u8fdb\u884c sim-to-real \u8fc1\u79fb\u7684\u5173\u952e\u524d\u63d0\u3002<\/p>\n<hr \/>\n<h3>6. BeyondMimic \u9879\u76ee\u4ee3\u7801\u7ed3\u6784\u5206\u6790<\/h3>\n<p>\u7406\u89e3 BeyondMimic \u7684\u4ee3\u7801\u7ec4\u7ec7\u65b9\u5f0f&#xff0c;\u6709\u52a9\u4e8e\u5728\u9700\u8981\u4fee\u6539\u8bad\u7ec3\u914d\u7f6e\u3001\u6dfb\u52a0\u65b0\u673a\u5668\u4eba\u6216\u8c03\u8bd5\u95ee\u9898\u65f6\u5feb\u901f\u5b9a\u4f4d\u76f8\u5173\u6587\u4ef6\u3002\u672c\u8282\u5bf9\u9879\u76ee\u7684\u6838\u5fc3\u76ee\u5f55\u548c\u5173\u952e\u6587\u4ef6\u8fdb\u884c\u9010\u4e00\u89e3\u8bfb\u3002<\/p>\n<h4>6.1 \u9879\u76ee\u76ee\u5f55\u603b\u89c8<\/h4>\n<p>BeyondMimic \u7684\u4ee3\u7801\u4ed3\u5e93&#xff08;\u5bf9\u5e94 GitHub \u4e0a\u7684 whole_body_tracking&#xff09;\u9075\u5faa Isaac Lab \u6269\u5c55\u7684\u6807\u51c6\u76ee\u5f55\u7ed3\u6784&#xff1a;<\/p>\n<p>whole_body_tracking\/<br \/>\n\u251c\u2500\u2500 exts\/<br \/>\n\u2502   \u2514\u2500\u2500 robot_lab\/<br \/>\n\u2502       \u2514\u2500\u2500 robot_lab\/<br \/>\n\u2502           \u251c\u2500\u2500 assets\/              # \u673a\u5668\u4eba URDF\/MJCF \u6a21\u578b\u6587\u4ef6<br \/>\n\u2502           \u2502   \u2514\u2500\u2500 g1\/<br \/>\n\u2502           \u2502       \u251c\u2500\u2500 g1.urdf<br \/>\n\u2502           \u2502       \u2514\u2500\u2500 g1_29dof.xml  # MuJoCo \u683c\u5f0f\u6a21\u578b<br \/>\n\u2502           \u251c\u2500\u2500 tasks\/               # \u4efb\u52a1\u5b9a\u4e49&#xff08;\u73af\u5883\u3001\u89c2\u6d4b\u3001\u5956\u52b1&#xff09;<br \/>\n\u2502           \u2502   \u2514\u2500\u2500 locomotion\/<br \/>\n\u2502           \u2502       \u2514\u2500\u2500 tracking\/<br \/>\n\u2502           \u2502           \u251c\u2500\u2500 config\/<br \/>\n\u2502           \u2502           \u2502   \u2514\u2500\u2500 g1\/<br \/>\n\u2502           \u2502           \u2502       \u251c\u2500\u2500 flat_env_cfg.py      # \u73af\u5883\u914d\u7f6e<br \/>\n\u2502           \u2502           \u2502       \u2514\u2500\u2500 agents\/<br \/>\n\u2502           \u2502           \u2502           \u2514\u2500\u2500 rsl_rl_ppo_cfg.py # PPO \u8d85\u53c2\u6570<br \/>\n\u2502           \u2502           \u251c\u2500\u2500 tracking_env.py   # \u6838\u5fc3\u73af\u5883\u7c7b<br \/>\n\u2502           \u2502           \u2514\u2500\u2500 mdp\/              # MDP \u7ec4\u4ef6<br \/>\n\u2502           \u2502               \u251c\u2500\u2500 observations.py  # \u89c2\u6d4b\u8ba1\u7b97<br \/>\n\u2502           \u2502               \u251c\u2500\u2500 rewards.py       # \u5956\u52b1\u8ba1\u7b97<br \/>\n\u2502           \u2502               \u2514\u2500\u2500 events.py        # \u57df\u968f\u673a\u5316\u4e8b\u4ef6<br \/>\n\u2502           \u2514\u2500\u2500 utils\/<br \/>\n\u2502               \u2514\u2500\u2500 motion_lib.py    # \u8fd0\u52a8\u6570\u636e\u52a0\u8f7d\u5e93<br \/>\n\u251c\u2500\u2500 scripts\/<br \/>\n\u2502   \u251c\u2500\u2500 csv_to_npz.py              # CSV \u8f6c NPZ \u9884\u5904\u7406<br \/>\n\u2502   \u251c\u2500\u2500 replay_npz.py              # NPZ \u6570\u636e\u56de\u653e\u9a8c\u8bc1<br \/>\n\u2502   \u2514\u2500\u2500 rsl_rl\/<br \/>\n\u2502       \u251c\u2500\u2500 train.py               # \u8bad\u7ec3\u5165\u53e3<br \/>\n\u2502       \u2514\u2500\u2500 play.py                # \u8bc4\u4f30\u4e0e\u5bfc\u51fa\u5165\u53e3<br \/>\n\u2514\u2500\u2500 motions\/                        # \u8fd0\u52a8\u6570\u636e\u5b58\u653e\u76ee\u5f55<br \/>\n    \u2514\u2500\u2500 g1\/<br \/>\n        \u2514\u2500\u2500 *.csv                   # \u53c2\u8003\u52a8\u4f5c CSV \u6587\u4ef6<\/p>\n<h4>6.2 \u6838\u5fc3\u6587\u4ef6\u89e3\u8bfb<\/h4>\n<p>tracking_env.py \u2014\u2014 \u73af\u5883\u6838\u5fc3<\/p>\n<p>\u8fd9\u662f\u6574\u4e2a\u8bad\u7ec3\u7cfb\u7edf\u7684\u4e2d\u67a2\u3002\u5b83\u7ee7\u627f\u81ea Isaac Lab \u7684 ManagerBasedRLEnv&#xff0c;\u8d1f\u8d23\u534f\u8c03\u4eff\u771f\u6b65\u8fdb\u3001\u89c2\u6d4b\u8ba1\u7b97\u3001\u5956\u52b1\u8ba1\u7b97\u548c\u73af\u5883\u91cd\u7f6e\u3002\u6bcf\u4e2a\u8bad\u7ec3\u6b65\u9aa4\u7684\u6267\u884c\u6d41\u7a0b\u5982\u4e0b&#xff1a;<\/p>\n<p><span class=\"token comment\"># tracking_env.py \u6838\u5fc3\u5faa\u73af&#xff08;\u7b80\u5316&#xff09;<\/span><br \/>\n<span class=\"token keyword\">class<\/span> <span class=\"token class-name\">TrackingEnv<\/span><span class=\"token punctuation\">(<\/span>ManagerBasedRLEnv<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    <span class=\"token keyword\">def<\/span> <span class=\"token function\">step<\/span><span class=\"token punctuation\">(<\/span>self<span class=\"token punctuation\">,<\/span> actions<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n        <span class=\"token comment\"># 1. \u5c06\u7b56\u7565\u8f93\u51fa\u7684\u52a8\u4f5c\u8f6c\u6362\u4e3a\u5173\u8282\u76ee\u6807<\/span><br \/>\n        joint_targets <span class=\"token operator\">&#061;<\/span> self<span class=\"token punctuation\">.<\/span>default_dof_pos <span class=\"token operator\">&#043;<\/span> actions <span class=\"token operator\">*<\/span> self<span class=\"token punctuation\">.<\/span>action_scale<\/p>\n<p>        <span class=\"token comment\"># 2. \u5e94\u7528 PD \u63a7\u5236&#xff0c;\u8ba1\u7b97\u5173\u8282\u529b\u77e9<\/span><br \/>\n        torques <span class=\"token operator\">&#061;<\/span> self<span class=\"token punctuation\">.<\/span>kp <span class=\"token operator\">*<\/span> <span class=\"token punctuation\">(<\/span>joint_targets <span class=\"token operator\">&#8211;<\/span> self<span class=\"token punctuation\">.<\/span>dof_pos<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#043;<\/span> self<span class=\"token punctuation\">.<\/span>kd <span class=\"token operator\">*<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">0<\/span> <span class=\"token operator\">&#8211;<\/span> self<span class=\"token punctuation\">.<\/span>dof_vel<span class=\"token punctuation\">)<\/span><\/p>\n<p>        <span class=\"token comment\"># 3. \u5728\u4eff\u771f\u4e2d\u65bd\u52a0\u529b\u77e9&#xff0c;\u6b65\u8fdb\u7269\u7406\u5f15\u64ce<\/span><br \/>\n        self<span class=\"token punctuation\">.<\/span>sim<span class=\"token punctuation\">.<\/span>apply_torques<span class=\"token punctuation\">(<\/span>torques<span class=\"token punctuation\">)<\/span><br \/>\n        <span class=\"token keyword\">for<\/span> _ <span class=\"token keyword\">in<\/span> <span class=\"token builtin\">range<\/span><span class=\"token punctuation\">(<\/span>self<span class=\"token punctuation\">.<\/span>decimation<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span>  <span class=\"token comment\"># decimation&#061;4, \u5373\u6bcf\u4e2a\u63a7\u5236\u6b65\u6267\u884c4\u4e2a\u7269\u7406\u6b65<\/span><br \/>\n            self<span class=\"token punctuation\">.<\/span>sim<span class=\"token punctuation\">.<\/span>step<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>        <span class=\"token comment\"># 4. \u8bfb\u53d6\u65b0\u7684\u72b6\u6001<\/span><br \/>\n        self<span class=\"token punctuation\">.<\/span>update_state<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>        <span class=\"token comment\"># 5. \u8ba1\u7b97\u89c2\u6d4b\u548c\u5956\u52b1<\/span><br \/>\n        obs <span class=\"token operator\">&#061;<\/span> self<span class=\"token punctuation\">.<\/span>compute_observations<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><br \/>\n        rewards <span class=\"token operator\">&#061;<\/span> self<span class=\"token punctuation\">.<\/span>compute_rewards<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>        <span class=\"token keyword\">return<\/span> obs<span class=\"token punctuation\">,<\/span> rewards<span class=\"token punctuation\">,<\/span> dones<span class=\"token punctuation\">,<\/span> infos<\/p>\n<p>\u8fd9\u91cc\u6709\u4e00\u4e2a\u5173\u952e\u7ec6\u8282&#xff1a;decimation \u53c2\u6570\u3002\u7269\u7406\u4eff\u771f\u7684\u65f6\u95f4\u6b65\u957f dt&#061;0.005s&#xff08;200Hz&#xff09;&#xff0c;\u4f46\u7b56\u7565\u7684\u63a7\u5236\u9891\u7387\u662f 1\/(dt * decimation) &#061; 1\/(0.005 * 4) &#061; 50Hz\u3002\u4e5f\u5c31\u662f\u8bf4&#xff0c;\u7b56\u7565\u6bcf\u8f93\u51fa\u4e00\u4e2a\u52a8\u4f5c&#xff0c;\u7269\u7406\u5f15\u64ce\u4f1a\u6267\u884c 4 \u6b65\u4eff\u771f\u3002\u8fd9\u79cd\u8bbe\u8ba1\u65e2\u4fdd\u8bc1\u4e86\u7269\u7406\u4eff\u771f\u7684\u7cbe\u5ea6&#xff0c;\u53c8\u964d\u4f4e\u4e86\u7b56\u7565\u7684\u51b3\u7b56\u9891\u7387&#xff0c;\u51cf\u8f7b\u4e86\u8bad\u7ec3\u8d1f\u62c5\u3002<\/p>\n<p>observations.py \u2014\u2014 \u89c2\u6d4b\u8ba1\u7b97<\/p>\n<p>\u8be5\u6587\u4ef6\u5b9a\u4e49\u4e86\u5404\u4e2a\u89c2\u6d4b\u5206\u91cf\u7684\u8ba1\u7b97\u65b9\u6cd5\u3002\u4ee5 motion_command \u4e3a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token keyword\">def<\/span> <span class=\"token function\">motion_command<\/span><span class=\"token punctuation\">(<\/span>env<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    <span class=\"token triple-quoted-string string\">&#034;&#034;&#034;\u4ece\u53c2\u8003\u52a8\u4f5c\u4e2d\u63d0\u53d6\u5f53\u524d\u65f6\u523b\u7684\u5173\u8282\u4f4d\u7f6e\u548c\u901f\u5ea6\u76ee\u6807&#034;&#034;&#034;<\/span><br \/>\n    motion_time <span class=\"token operator\">&#061;<\/span> env<span class=\"token punctuation\">.<\/span>episode_length_buf <span class=\"token operator\">*<\/span> env<span class=\"token punctuation\">.<\/span>dt <span class=\"token operator\">*<\/span> env<span class=\"token punctuation\">.<\/span>decimation<br \/>\n    ref_joint_pos <span class=\"token operator\">&#061;<\/span> env<span class=\"token punctuation\">.<\/span>motion_lib<span class=\"token punctuation\">.<\/span>get_joint_pos<span class=\"token punctuation\">(<\/span>motion_time<span class=\"token punctuation\">)<\/span><br \/>\n    ref_joint_vel <span class=\"token operator\">&#061;<\/span> env<span class=\"token punctuation\">.<\/span>motion_lib<span class=\"token punctuation\">.<\/span>get_joint_vel<span class=\"token punctuation\">(<\/span>motion_time<span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> torch<span class=\"token punctuation\">.<\/span>cat<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">[<\/span>ref_joint_pos<span class=\"token punctuation\">,<\/span> ref_joint_vel<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> dim<span class=\"token operator\">&#061;<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>rewards.py \u2014\u2014 \u5956\u52b1\u8ba1\u7b97<\/p>\n<p>\u6bcf\u4e2a\u5956\u52b1\u9879\u88ab\u5b9e\u73b0\u4e3a\u4e00\u4e2a\u72ec\u7acb\u7684\u51fd\u6570&#xff0c;\u4fbf\u4e8e\u7ec4\u5408\u548c\u8c03\u8bd5&#xff1a;<\/p>\n<p><span class=\"token keyword\">def<\/span> <span class=\"token function\">joint_pos_tracking<\/span><span class=\"token punctuation\">(<\/span>env<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    <span class=\"token triple-quoted-string string\">&#034;&#034;&#034;\u5173\u8282\u4f4d\u7f6e\u8ddf\u8e2a\u5956\u52b1&#034;&#034;&#034;<\/span><br \/>\n    error <span class=\"token operator\">&#061;<\/span> torch<span class=\"token punctuation\">.<\/span><span class=\"token builtin\">sum<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span>env<span class=\"token punctuation\">.<\/span>dof_pos <span class=\"token operator\">&#8211;<\/span> env<span class=\"token punctuation\">.<\/span>ref_joint_pos<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">**<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">,<\/span> dim<span class=\"token operator\">&#061;<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> torch<span class=\"token punctuation\">.<\/span>exp<span class=\"token punctuation\">(<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token number\">5.0<\/span> <span class=\"token operator\">*<\/span> error<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">def<\/span> <span class=\"token function\">body_pos_tracking<\/span><span class=\"token punctuation\">(<\/span>env<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    <span class=\"token triple-quoted-string string\">&#034;&#034;&#034;\u8eab\u4f53\u90e8\u4f4d\u7b1b\u5361\u5c14\u4f4d\u7f6e\u8ddf\u8e2a\u5956\u52b1&#034;&#034;&#034;<\/span><br \/>\n    error <span class=\"token operator\">&#061;<\/span> torch<span class=\"token punctuation\">.<\/span><span class=\"token builtin\">sum<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span>env<span class=\"token punctuation\">.<\/span>body_pos <span class=\"token operator\">&#8211;<\/span> env<span class=\"token punctuation\">.<\/span>ref_body_pos<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">**<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">,<\/span> dim<span class=\"token operator\">&#061;<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> torch<span class=\"token punctuation\">.<\/span>exp<span class=\"token punctuation\">(<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token number\">40.0<\/span> <span class=\"token operator\">*<\/span> error<span class=\"token punctuation\">)<\/span><\/p>\n<p>motion_lib.py \u2014\u2014 \u8fd0\u52a8\u6570\u636e\u7ba1\u7406<\/p>\n<p>\u8fd9\u4e2a\u5de5\u5177\u7c7b\u8d1f\u8d23\u4ece WandB Registry \u52a0\u8f7d NPZ \u683c\u5f0f\u7684\u8fd0\u52a8\u6570\u636e&#xff0c;\u5e76\u63d0\u4f9b\u6309\u65f6\u95f4\u7d22\u5f15\u7684\u67e5\u8be2\u63a5\u53e3\u3002\u5b83\u5728\u5185\u90e8\u7ef4\u62a4\u4e86\u4e00\u4e2a\u65f6\u95f4\u7d22\u5f15\u8868&#xff0c;\u652f\u6301\u7ebf\u6027\u63d2\u503c\u4ee5\u83b7\u53d6\u4efb\u610f\u65f6\u523b\u7684\u53c2\u8003\u72b6\u6001\u3002<\/p>\n<h4>6.3 PD \u63a7\u5236\u4e0e\u52a8\u4f5c\u7a7a\u95f4<\/h4>\n<p>BeyondMimic \u7684\u52a8\u4f5c\u7a7a\u95f4\u662f\u5173\u8282\u4f4d\u7f6e\u76ee\u6807\u7a7a\u95f4\u3002\u7b56\u7565\u8f93\u51fa\u7684\u52a8\u4f5c a \u7ecf\u8fc7\u4ee5\u4e0b\u53d8\u6362\u5f97\u5230\u5b9e\u9645\u7684\u5173\u8282\u4f4d\u7f6e\u76ee\u6807&#xff1a;<\/p>\n<p>q_target &#061; default_dof_pos &#043; a * action_scale<\/p>\n<p>\u5176\u4e2d default_dof_pos \u662f\u673a\u5668\u4eba\u7684\u9ed8\u8ba4\u7ad9\u7acb\u59ff\u6001&#xff0c;action_scale \u63a7\u5236\u52a8\u4f5c\u7684\u5e45\u5ea6\u3002\u7136\u540e\u901a\u8fc7 PD \u63a7\u5236\u5668\u8ba1\u7b97\u5173\u8282\u529b\u77e9&#xff1a;<\/p>\n<p>tau &#061; Kp * (q_target &#8211; q_actual) &#043; Kd * (0 &#8211; dq_actual)<\/p>\n<p>\u6ce8\u610f\u901f\u5ea6\u76ee\u6807\u9ed8\u8ba4\u4e3a 0&#xff0c;\u8fd9\u610f\u5473\u7740 PD \u63a7\u5236\u5668\u4f1a\u81ea\u7136\u5730\u963b\u5c3c\u5173\u8282\u8fd0\u52a8&#xff0c;\u6709\u52a9\u4e8e\u7a33\u5b9a\u6027\u3002Kp \u548c Kd \u7684\u503c\u56e0\u5173\u8282\u800c\u5f02\u2014\u2014\u627f\u91cd\u7684\u817f\u90e8\u5173\u8282\u4f7f\u7528\u8f83\u5927\u7684\u589e\u76ca&#xff08;\u5982\u9acb\u5173\u8282 Kp&#061;99&#xff09;&#xff0c;\u800c\u624b\u81c2\u5173\u8282\u4f7f\u7528\u8f83\u5c0f\u7684\u589e\u76ca&#xff08;\u5982\u80a9\u5173\u8282 Kp&#061;14&#xff09;\u3002<\/p>\n<p>action_scale \u7684\u8ba1\u7b97\u516c\u5f0f\u4e3a&#xff1a;<\/p>\n<p>action_scale &#061; 0.25 * effort_limit \/ stiffness<\/p>\n<p>\u8fd9\u4e2a\u516c\u5f0f\u786e\u4fdd\u4e86\u7b56\u7565\u8f93\u51fa\u5728 [-1, 1] \u8303\u56f4\u5185\u65f6&#xff0c;\u5173\u8282\u76ee\u6807\u4e0d\u4f1a\u8d85\u51fa\u7269\u7406\u53ef\u884c\u7684\u8303\u56f4\u3002effort_limit \u662f\u5173\u8282\u7684\u6700\u5927\u529b\u77e9&#xff0c;stiffness \u662f PD \u63a7\u5236\u5668\u7684 Kp \u503c\u30020.25 \u7684\u7cfb\u6570\u63d0\u4f9b\u4e86\u989d\u5916\u7684\u5b89\u5168\u88d5\u5ea6\u3002<\/p>\n<hr \/>\n<h3>7. \u5c06 BeyondMimic \u96c6\u6210\u5230 rl_sar&#xff1a;\u4ece\u4eff\u771f\u9a8c\u8bc1\u5230\u771f\u673a\u90e8\u7f72<\/h3>\n<p>\u8fd9\u662f\u672c\u6587\u6700\u6838\u5fc3\u7684\u5b9e\u8df5\u90e8\u5206\u3002BeyondMimic \u5728 Isaac Lab \u4e2d\u5b8c\u6210\u8bad\u7ec3\u540e&#xff0c;\u9700\u8981\u5c06\u7b56\u7565\u8fc1\u79fb\u5230 rl_sar \u6846\u67b6\u4e2d\u8fdb\u884c\u72ec\u7acb\u7684\u4eff\u771f\u9a8c\u8bc1&#xff08;sim2sim&#xff09;\u548c\u771f\u5b9e\u673a\u5668\u4eba\u90e8\u7f72&#xff08;sim2real&#xff09;\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u8fdc\u975e\u7b80\u5355\u7684&#034;\u590d\u5236\u7c98\u8d34&#034;&#xff0c;\u6d89\u53ca\u5927\u91cf\u7684\u53c2\u6570\u5bf9\u9f50\u3001\u6570\u636e\u683c\u5f0f\u8f6c\u6362\u548c\u5de5\u7a0b\u7ec6\u8282\u3002\u672c\u8282\u5c06\u5b8c\u6574\u8bb0\u5f55\u8fd9\u4e00\u8fc7\u7a0b\u4e2d\u7684\u6bcf\u4e2a\u6b65\u9aa4\u548c\u9047\u5230\u7684\u5173\u952e\u95ee\u9898\u3002<\/p>\n<h4>7.1 rl_sar \u6846\u67b6\u6982\u8ff0<\/h4>\n<p>rl_sar \u662f\u4e00\u4e2a\u5f00\u6e90\u7684\u5f3a\u5316\u5b66\u4e60 sim-to-real \u90e8\u7f72\u6846\u67b6&#xff0c;\u652f\u6301\u5728 MuJoCo \u548c Gazebo \u4eff\u771f\u5668\u4e2d\u9a8c\u8bc1\u7b56\u7565&#xff0c;\u5e76\u90e8\u7f72\u5230 Unitree \u7cfb\u5217\u673a\u5668\u4eba\u7684\u771f\u5b9e\u786c\u4ef6\u4e0a\u3002\u8be5\u6846\u67b6\u4f7f\u7528 C&#043;&#043; \u7f16\u5199\u6838\u5fc3\u63a7\u5236\u5faa\u73af&#xff0c;\u901a\u8fc7 ONNX Runtime \u6216 LibTorch \u52a0\u8f7d\u8bad\u7ec3\u597d\u7684\u7b56\u7565\u6a21\u578b&#xff0c;\u4ee5\u6ee1\u8db3\u5b9e\u65f6\u63a7\u5236\u5bf9\u5ef6\u8fdf\u7684\u4e25\u683c\u8981\u6c42\u3002<\/p>\n<p>rl_sar \u7684\u67b6\u6784\u8bbe\u8ba1\u56f4\u7ed5\u6709\u9650\u72b6\u6001\u673a&#xff08;FSM&#xff09;\u5c55\u5f00\u3002\u673a\u5668\u4eba\u5728\u4e0d\u540c\u7684\u63a7\u5236\u72b6\u6001\u4e4b\u95f4\u5207\u6362&#xff0c;\u6bcf\u4e2a\u72b6\u6001\u5bf9\u5e94\u4e00\u79cd\u884c\u4e3a\u6a21\u5f0f\u3002\u4ee5 G1 \u673a\u5668\u4eba\u4e3a\u4f8b&#xff0c;\u5176 FSM \u5305\u542b\u4ee5\u4e0b\u72b6\u6001&#xff1a;<\/p>\n<p>RLFSMStatePassive          \u2190 \u88ab\u52a8\u6a21\u5f0f&#xff08;\u5173\u8282\u963b\u5c3c&#xff0c;\u65e0\u4e3b\u52a8\u63a7\u5236&#xff09;<br \/>\n    \u2193 [\u6309\u952e 0 \/ \u624b\u67c4 A]<br \/>\nRLFSMStateGetUp            \u2190 \u8d77\u7acb&#xff08;\u4ece\u5f53\u524d\u59ff\u6001\u63d2\u503c\u5230\u9ed8\u8ba4\u7ad9\u7acb\u59ff\u6001&#xff09;<br \/>\n    \u2193 [\u6309\u952e 1 \/ \u624b\u67c4 RB&#043;DPadUp]<br \/>\nRLFSMStateRLRoboMimicLocomotion  \u2190 \u884c\u8d70\u63a7\u5236&#xff08;\u57fa\u7840\u8fd0\u52a8\u7b56\u7565&#xff09;<br \/>\n    \u2193 [\u6309\u952e 2-5 \/ \u624b\u67c4\u65b9\u5411\u952e]<br \/>\nRLFSMStateRLRoboMimicCharleston  \u2190 \u67e5\u5c14\u65af\u987f\u821e&#xff08;Num2&#xff09;<br \/>\nRLFSMStateRLWholeBodyTrackingDance102    \u2190 Dance 102&#xff08;Num3&#xff09;<br \/>\nRLFSMStateRLWholeBodyTrackingGangnamStyle \u2190 \u6c5f\u5357 Style&#xff08;Num4&#xff09;<br \/>\nRLFSMStateRLWholeBodyTrackingMimic       \u2190 \u81ea\u5b9a\u4e49\u52a8\u4f5c&#xff08;Num5&#xff09;<br \/>\n    \u2193 [\u6309\u952e 9 \/ \u624b\u67c4 B]<br \/>\nRLFSMStateGetDown          \u2190 \u8e72\u4e0b&#xff08;\u63d2\u503c\u56de\u521d\u59cb\u59ff\u6001&#xff09;<br \/>\n    \u2193 [\u5b8c\u6210]<br \/>\nRLFSMStatePassive          \u2190 \u56de\u5230\u88ab\u52a8\u6a21\u5f0f<\/p>\n<p>\u6bcf\u4e2a FSM \u72b6\u6001\u5728\u8fdb\u5165\u65f6\u52a0\u8f7d\u5bf9\u5e94\u7684\u7b56\u7565\u6a21\u578b\u548c\u914d\u7f6e\u6587\u4ef6&#xff0c;\u5728\u8fd0\u884c\u65f6\u6267\u884c\u7b56\u7565\u63a8\u7406\u5e76\u8f93\u51fa\u5173\u8282\u63a7\u5236\u6307\u4ee4\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4f7f\u5f97\u540c\u4e00\u4e2a\u673a\u5668\u4eba\u53ef\u4ee5\u5728\u8fd0\u884c\u65f6\u52a8\u6001\u5207\u6362\u4e0d\u540c\u7684\u6280\u80fd&#xff0c;\u800c\u65e0\u9700\u91cd\u542f\u7a0b\u5e8f\u3002<\/p>\n<h4>7.2 rl_sar \u7684\u914d\u7f6e\u6587\u4ef6\u4f53\u7cfb<\/h4>\n<p>rl_sar \u4f7f\u7528 YAML \u914d\u7f6e\u6587\u4ef6\u7ba1\u7406\u6240\u6709\u4e0e\u7b56\u7565\u76f8\u5173\u7684\u53c2\u6570\u3002\u914d\u7f6e\u6587\u4ef6\u5206\u4e3a\u4e24\u5c42&#xff1a;\u57fa\u7840\u914d\u7f6e&#xff08;base.yaml&#xff09;\u548c\u7b56\u7565\u914d\u7f6e&#xff08;config.yaml&#xff09;\u3002<\/p>\n<p>base.yaml \u2014\u2014 \u673a\u5668\u4eba\u786c\u4ef6\u53c2\u6570<\/p>\n<p>\u4ee5 G1 23DoF \u4e3a\u4f8b&#xff0c;policy\/g1_23\/base.yaml \u5b9a\u4e49\u4e86\u4e0e\u786c\u4ef6\u76f8\u5173\u7684\u57fa\u7840\u53c2\u6570&#xff1a;<\/p>\n<p><span class=\"token comment\"># policy\/g1_23\/base.yaml&#xff08;\u5173\u952e\u5b57\u6bb5\u6458\u5f55&#xff09;<\/span><br \/>\n<span class=\"token key atrule\">g1_23<\/span><span class=\"token punctuation\">:<\/span><br \/>\n  <span class=\"token key atrule\">num_of_dofs<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">23<\/span><br \/>\n  <span class=\"token key atrule\">dt<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">0.005<\/span>           <span class=\"token comment\"># \u7269\u7406\u4eff\u771f\u65f6\u95f4\u6b65\u957f<\/span><br \/>\n  <span class=\"token key atrule\">decimation<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">4<\/span>        <span class=\"token comment\"># \u63a7\u5236\u9891\u7387 &#061; 1\/(dt*decimation) &#061; 50Hz<\/span><\/p>\n<p>  <span class=\"token comment\"># \u5173\u8282\u540d\u79f0&#xff08;\u5b9a\u4e49\u4e86\u8bad\u7ec3\u65f6\u7684\u5173\u8282\u987a\u5e8f&#xff09;<\/span><br \/>\n  <span class=\"token key atrule\">joint_names<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span><br \/>\n    <span class=\"token string\">&#034;left_hip_pitch_joint&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;left_hip_roll_joint&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;left_hip_yaw_joint&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string\">&#034;left_knee_joint&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;left_ankle_pitch_joint&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;left_ankle_roll_joint&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string\">&#034;right_hip_pitch_joint&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;right_hip_roll_joint&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;right_hip_yaw_joint&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string\">&#034;right_knee_joint&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;right_ankle_pitch_joint&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;right_ankle_roll_joint&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string\">&#034;waist_yaw_joint&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string\">&#034;left_shoulder_pitch_joint&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;left_shoulder_roll_joint&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string\">&#034;left_shoulder_yaw_joint&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;left_elbow_joint&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;left_wrist_yaw_joint&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string\">&#034;right_shoulder_pitch_joint&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;right_shoulder_roll_joint&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string\">&#034;right_shoulder_yaw_joint&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;right_elbow_joint&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;right_wrist_yaw_joint&#034;<\/span><br \/>\n  <span class=\"token punctuation\">]<\/span><\/p>\n<p>  <span class=\"token comment\"># \u9ed8\u8ba4\u7ad9\u7acb\u59ff\u6001&#xff08;\u5f27\u5ea6&#xff09;<\/span><br \/>\n  <span class=\"token key atrule\">default_dof_pos<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span><br \/>\n    <span class=\"token number\">-0.10<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.32<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">-0.20<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span>   <span class=\"token comment\"># \u5de6\u817f<\/span><br \/>\n    <span class=\"token punctuation\">&#8211;<\/span><span class=\"token number\">0.10<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.32<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">-0.20<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span>   <span class=\"token comment\"># \u53f3\u817f<\/span><br \/>\n    0.0<span class=\"token punctuation\">,<\/span>                                    <span class=\"token comment\"># \u8170\u90e8\u504f\u822a<\/span><br \/>\n    0.0<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.2<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.4<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span>              <span class=\"token comment\"># \u5de6\u81c2<\/span><br \/>\n    0.0<span class=\"token punctuation\">,<\/span> <span class=\"token number\">-0.2<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.4<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span>              <span class=\"token comment\"># \u53f3\u81c2<\/span><br \/>\n  <span class=\"token punctuation\">]<\/span><\/p>\n<p>  <span class=\"token comment\"># \u5173\u8282\u6620\u5c04&#xff1a;\u8bad\u7ec3\u5173\u8282\u7d22\u5f15 \u2192 MuJoCo\/SDK \u5173\u8282\u7d22\u5f15<\/span><br \/>\n  <span class=\"token comment\"># 23DoF \u8df3\u8fc7\u4e86 29DoF \u4e2d\u7684 waist_roll(13), waist_pitch(14),<\/span><br \/>\n  <span class=\"token comment\"># left_wrist_pitch(20), left_wrist_yaw(21), right_wrist_pitch(27), right_wrist_yaw(28)<\/span><br \/>\n  <span class=\"token key atrule\">joint_mapping<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">5<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">6<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">7<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">8<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">9<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">10<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">11<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">12<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">15<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">16<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">17<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">18<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">19<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">22<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">23<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">24<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">25<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">26<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p>  <span class=\"token comment\"># \u529b\u77e9\u9650\u5236<\/span><br \/>\n  <span class=\"token key atrule\">torque_limits<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">88<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">139<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">88<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">139<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">50<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">50<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">88<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">139<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">88<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">139<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">50<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">50<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">88<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                  <span class=\"token number\">25<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">25<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">25<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">25<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">25<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">25<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">25<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">25<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">25<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">25<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p>  <span class=\"token comment\"># \u7f16\u7801\u5668\u504f\u7f6e&#xff08;\u8865\u507f\u786c\u4ef6\u96f6\u70b9\u504f\u5dee&#xff09;<\/span><br \/>\n  <span class=\"token key atrule\">use_encoder_bias<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token boolean important\">true<\/span><br \/>\n  <span class=\"token key atrule\">encoder_bias<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                 <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0.87<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0.87<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p>\u8fd9\u91cc\u6709\u51e0\u4e2a\u5173\u952e\u70b9\u9700\u8981\u7279\u522b\u6ce8\u610f&#xff1a;<\/p>\n<p>\u7b2c\u4e00&#xff0c;joint_mapping \u7684\u4f5c\u7528\u662f\u5c06\u8bad\u7ec3\u65f6\u7684\u5173\u8282\u7d22\u5f15\u6620\u5c04\u5230 MuJoCo \u4eff\u771f\u6216\u771f\u5b9e\u786c\u4ef6\u7684\u5173\u8282\u7d22\u5f15\u300223DoF \u7684 G1 \u76f8\u6bd4 29DoF \u7248\u672c\u53bb\u6389\u4e86\u8170\u90e8\u7684 roll\/pitch \u5173\u8282\u548c\u624b\u8155\u7684 pitch\/yaw \u5173\u8282&#xff0c;\u56e0\u6b64\u6620\u5c04\u6570\u7ec4\u4e2d\u51fa\u73b0\u4e86\u8df3\u8dc3&#xff08;12 \u4e4b\u540e\u76f4\u63a5\u5230 15&#xff0c;19 \u4e4b\u540e\u76f4\u63a5\u5230 22&#xff09;\u3002<\/p>\n<p>\u7b2c\u4e8c&#xff0c;encoder_bias \u4e2d\u5de6\u53f3\u8098\u5173\u8282\u7684\u504f\u7f6e\u503c\u4e3a 0.87 \u5f27\u5ea6\u3002\u8fd9\u662f\u56e0\u4e3a mjlab&#xff08;BeyondMimic \u4f7f\u7528\u7684 MuJoCo \u4eff\u771f\u73af\u5883&#xff09;\u4e2d\u8098\u5173\u8282\u7684\u96f6\u70b9\u5b9a\u4e49\u4e0e Unitree SDK \u4e0d\u540c\u3002\u5982\u679c\u4e0d\u52a0\u8fd9\u4e2a\u504f\u7f6e&#xff0c;\u673a\u5668\u4eba\u7684\u624b\u81c2\u4f1a\u51fa\u73b0\u660e\u663e\u7684\u59ff\u6001\u504f\u5dee\u3002<\/p>\n<p>config.yaml \u2014\u2014 \u7b56\u7565\u4e13\u5c5e\u53c2\u6570<\/p>\n<p>\u6bcf\u4e2a\u7b56\u7565\u90fd\u6709\u81ea\u5df1\u7684 config.yaml&#xff0c;\u5b9a\u4e49\u4e86\u4e0e\u8be5\u7b56\u7565\u76f8\u5173\u7684\u7279\u5b9a\u53c2\u6570\u3002\u4ee5 23DoF \u5168\u8eab\u8ddf\u8e2a\u7b56\u7565\u4e3a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># policy\/g1_23\/whole_body_tracking\/config.yaml&#xff08;\u5173\u952e\u5b57\u6bb5\u6458\u5f55&#xff09;<\/span><br \/>\n<span class=\"token key atrule\">g1_23\/whole_body_tracking<\/span><span class=\"token punctuation\">:<\/span><br \/>\n  <span class=\"token key atrule\">model_name<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token string\">&#034;policy3.pt&#034;<\/span><\/p>\n<p>  <span class=\"token comment\"># \u89c2\u6d4b\u7a7a\u95f4\u5b9a\u4e49&#xff08;\u987a\u5e8f\u5fc5\u987b\u4e0e\u8bad\u7ec3\u65f6\u5b8c\u5168\u4e00\u81f4&#xff09;<\/span><br \/>\n  <span class=\"token key atrule\">observations<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span><br \/>\n    <span class=\"token string\">&#034;whole_body_tracking\/motion_command&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string\">&#034;whole_body_tracking\/motion_anchor_ori_b&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string\">&#034;ang_vel&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;dof_pos&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;dof_vel&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;actions&#034;<\/span><br \/>\n  <span class=\"token punctuation\">]<\/span><br \/>\n  <span class=\"token key atrule\">num_observations<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">124<\/span>   <span class=\"token comment\"># 46 &#043; 6 &#043; 3 &#043; 23 &#043; 23 &#043; 23<\/span><\/p>\n<p>  <span class=\"token key atrule\">clip_obs<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">100.0<\/span><\/p>\n<p>  <span class=\"token comment\"># \u52a8\u4f5c\u88c1\u526a&#xff1a;\u7a7a\u6570\u7ec4\u8868\u793a\u4e0d\u88c1\u526a&#xff08;\u5173\u952e&#xff01;&#xff09;<\/span><br \/>\n  <span class=\"token key atrule\">clip_actions_lower<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token punctuation\">]<\/span><br \/>\n  <span class=\"token key atrule\">clip_actions_upper<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p>  <span class=\"token comment\"># PD \u589e\u76ca&#xff08;\u5fc5\u987b\u4e0e\u8bad\u7ec3\u65f6\u4e00\u81f4&#xff09;<\/span><br \/>\n  <span class=\"token key atrule\">rl_kp<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">40.179<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">99.098<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">40.179<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">99.098<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">28.501<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">28.501<\/span><span class=\"token punctuation\">,<\/span><br \/>\n          <span class=\"token number\">40.179<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">99.098<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">40.179<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">99.098<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">28.501<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">28.501<\/span><span class=\"token punctuation\">,<\/span><br \/>\n          <span class=\"token number\">40.179<\/span><span class=\"token punctuation\">,<\/span><br \/>\n          <span class=\"token number\">14.251<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">14.251<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">14.251<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">14.251<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">14.251<\/span><span class=\"token punctuation\">,<\/span><br \/>\n          <span class=\"token number\">14.251<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">14.251<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">14.251<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">14.251<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">14.251<\/span><span class=\"token punctuation\">]<\/span><br \/>\n  <span class=\"token key atrule\">rl_kd<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">2.558<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">6.309<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2.558<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">6.309<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1.814<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1.814<\/span><span class=\"token punctuation\">,<\/span><br \/>\n          <span class=\"token number\">2.558<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">6.309<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2.558<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">6.309<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1.814<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1.814<\/span><span class=\"token punctuation\">,<\/span><br \/>\n          <span class=\"token number\">2.558<\/span><span class=\"token punctuation\">,<\/span><br \/>\n          <span class=\"token number\">0.907<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.907<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.907<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.907<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.907<\/span><span class=\"token punctuation\">,<\/span><br \/>\n          <span class=\"token number\">0.907<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.907<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.907<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.907<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.907<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p>  <span class=\"token comment\"># \u52a8\u4f5c\u7f29\u653e&#xff08;\u4e0e\u8bad\u7ec3\u65f6\u4e00\u81f4&#xff09;<\/span><br \/>\n  <span class=\"token key atrule\">action_scale<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0.548<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.351<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.548<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.351<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.439<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.439<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                 <span class=\"token number\">0.548<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.351<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.548<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.351<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.439<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.439<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                 <span class=\"token number\">0.548<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                 <span class=\"token number\">0.439<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.439<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.439<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.439<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.439<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                 <span class=\"token number\">0.439<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.439<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.439<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.439<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.439<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p>  <span class=\"token comment\"># \u53c2\u8003\u52a8\u4f5c CSV \u6587\u4ef6<\/span><br \/>\n  <span class=\"token key atrule\">motion_file<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token string\">&#034;G1_Take_102.bvh_50hz_23dof.csv&#034;<\/span><\/p>\n<p>  <span class=\"token comment\"># \u8fd0\u52a8\u6570\u636e\u5173\u8282\u6620\u5c04&#xff08;\u4ece 29DoF CSV \u4e2d\u9009\u53d6 23DoF \u5bf9\u5e94\u7684\u5217&#xff09;<\/span><br \/>\n  <span class=\"token key atrule\">motion_joint_mapping<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">5<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">6<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">7<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">8<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">9<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">10<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">11<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">12<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                         <span class=\"token number\">15<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">16<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">17<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">18<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">19<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">22<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">23<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">24<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">25<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">26<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p>  <span class=\"token comment\"># \u8170\u90e8\u5173\u8282\u7d22\u5f15&#xff08;\u7528\u4e8e\u951a\u70b9\u671d\u5411\u8ba1\u7b97&#xff09;<\/span><br \/>\n  <span class=\"token key atrule\">waist_joint_indices<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">12<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<h4>7.3 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