jiawei-ren / diffmimic

[ICLR 2023] DiffMimic: Efficient Motion Mimicking with Differentiable Physics https://arxiv.org/abs/2304.03274

Home Page:https://diffmimic.github.io/

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DiffMimic:
Efficient Motion Mimicking with Differentiable Physics

Jiawei Ren* Cunjun Yu* Siwei Chen Xiao Ma Liang Pan Ziwei Liu
S-Lab, Nanyang Technological University  National University of Singapore  
*equal contribution
corresponding author
ICLR 2023

About

We implement DiffMimic with Brax:

BRAX

Brax is a fast and fully differentiable physics engine used for research and development of robotics, human perception, materials science, reinforcement learning, and other simulation-heavy applications.

An environment mimic_env is implemented for training and benchmarking. mimic_env now includes the following characters:

  • HUMANOID: AMP-formatted humanoid, used for acrobatics skills.
  • SMPL: SMPL-formatted humanoid, used for mocap data.
  • SWORDSHIELD: ASE-formatted humanoid, used for REALLUSION sword-shield motion.

More characters are on the way.

Installation

conda create -n diffmimic python==3.9 -y
conda activate diffmimic

pip install --upgrade pip
pip install --upgrade "jax[cuda]==0.4.2" -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html
pip install -r requirements.txt

Get Started

python mimic.py --config configs/AMP/backflip.yaml

Visualize

streamlit run visualize.py

Citation

If you find our work useful for your research, please consider citing the paper:

@inproceedings{ren2023diffmimic,
  author    = {Ren, Jiawei and Yu, Cunjun and Chen, Siwei and Ma, Xiao and Pan, Liang and Liu, Ziwei},
  title     = {DiffMimic: Efficient Motion Mimicking with Differentiable Physics},
  journal   = {ICLR},
  year      = {2023},
}

Acknowledgment

About

[ICLR 2023] DiffMimic: Efficient Motion Mimicking with Differentiable Physics https://arxiv.org/abs/2304.03274

https://diffmimic.github.io/

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