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feat: add motion imitation tracking for G1 humanoid - #41
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Migrate motion tracking implementation from mjlab to UniLab architecture. Adapts BeyondMimic-style motion imitation to UniLab's non-manager based environment system with CPU simulation and GPU training. Key components: - Math utilities for quaternion operations and transforms - Motion loader with adaptive/uniform/start sampling modes - G1 motion tracking environment with exponential reward functions - MuJoCo backend extensions for body state access - CSV to NPZ motion preprocessing script Architecture differences from mjlab: - Direct NpEnv inheritance vs manager-based system - CPU MuJoCo simulation vs GPU MuJoCo-Warp - Decorator-based registration vs automatic config registration - Inline reward/observation computation vs manager terms Training config: 4096 envs, 30k iterations, 50 Hz control Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
TATP-233
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May 4, 2026
feat: add motion imitation tracking for G1 humanoid
TATP-233
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that referenced
this pull request
Sep 4, 2026
feat: add motion imitation tracking for G1 humanoid
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Migrate motion tracking implementation from mjlab to UniLab architecture. Adapts BeyondMimic-style motion imitation to UniLab's non-manager based environment system with CPU simulation and GPU training.
Key components:
Architecture differences from mjlab:
Training config: 4096 envs, 30k iterations, 50 Hz control