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Add Apollo Joystick Task #88

Merged
merged 3 commits into from
Apr 12, 2025
Merged

Add Apollo Joystick Task #88

merged 3 commits into from
Apr 12, 2025

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kevinzakka
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This PR:

  • Introduces the Apptronik Apollo humanoid to playground via a joystick task
  • A notebook for training a joystick controller
  • New plotting functionality with detailed metrics about training (see below)
  • An ONNX file corresponding to a checkpoint trained using the above notebook
  • A script to play and control the robot locally

Note we didn't evaluate the policy on hardware and as such do not provide a domain randomization function.

apollo_sample

apollo_sample.mp4

@kevinzakka kevinzakka requested a review from erikfrey March 24, 2025 19:27
btaba
btaba approved these changes Apr 10, 2025
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Thanks for the addition, very exciting!

mujoco_playground/experimental/utils/plotting.py
from IPython.display import clear_output, display


class TrainingPlotter:
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Totally down if you want to add this to brax btw

mujoco_playground/experimental/utils/plotting.py
label = parts[-1]
else:
label = metric
if label == "episode_reward":
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could be a dict, IDC about experimental either way tho. probably written by an LLM :D

@copybara-service copybara-service bot merged commit 024adbe into main Apr 12, 2025
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@btaba btaba btaba approved these changes

@erikfrey erikfrey Awaiting requested review from erikfrey

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2 participants
@kevinzakka @btaba