🚀 New LocoMuJoCo Version 🚀
We are thrilled to announce the latest release of our package, packed with enhanced features and key advantages that elevate your work with humanoid and quadruped environments to new heights. Here's what you can look forward to:
New Features:
- MuJoCo and MJX Support: Enjoy seamless integration with MuJoCo for single environments and MJX for parallel environments, offering unmatched flexibility.
- Efficient JAX Algorithms: Utilize clean, single-file JAX algorithms for PPO, GAIL, AMP, and DeepMimic, enabling quick and efficient benchmarking.
- Expanded Environment Library: Explore a new collection of 12 humanoid and 4 quadruped environments.
- Lightning-Fast Training: Experience unparalleled training speeds with our combined training and environment JIT-compiled function.
- Extensive Motion Capture Datasets: Access over 22,000 motion capture datasets from AMASS, LAFAN1, and native LocoMuJoCo, all retargeted for each humanoid environment.
- Robot-to-Robot Retargeting: Easily retarget any existing dataset from one robot to another. Add your humanoid and get immediate access to all +22,000 datasets!
- Advanced Trajectory Metrics: Leverage powerful trajectory comparison metrics, including dynamic time warping and discrete Fréchet distance, all implemented in JAX.
- Built-In Randomization: Enhance your simulations with built-in domain and terrain randomization, ensuring robust and adaptable models.
- Modular Design: Customize your workflow with a modular design that allows you to define, swap, and reuse components like observation types, reward functions, terminal state handlers, and domain randomization.