Actor network with future motion support.

Linear layer with LayerNorm, activation, and optionally dropout.

Simplicial normalization. Adapted from https://arxiv.org/abs/2204.00616.

A skeleton tree gives a complete description of a rigid skeleton. It describes a tree structure over a list of nodes with their names indicat

@brief: a class to make sure the format could be used

Simplified encoder for future motion observations without attention.

Hardware deployment wrapper for student policy with future motion support.

Hardware deployment wrapper for student policy with future motion support.

Normalizes pixel observations to [-0.5, 0.5].

Fixed-size buffer to store experience tuples.

Random shift image augmentation. Adapted from https://github.com/facebookresearch/drqv2

Actor-Critic network with future motion support.

An abstract plotter which deals with a plotting task. The children class needs to implement the functions to create/update the objects according t

Vectorized ensemble of modules.

Student policy environment with future motion support and curriculum masking. Extends G1MimicDistill to add future motion capabilities while maint

Student policy config with future motion support and curriculum masking. Extends existing G1MimicPrivCfg to add future motion capabilities.

DAgger training config for future motion student policy. Inherits from G1MimicStuFutureCfg and extends G1MimicStuRLTrackingCfgDAgger.