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MJX Training Pipeline#14

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michael-lutz wants to merge 18 commits intomasterkscalelabs/sim:masterfrom lutz/mjxkscalelabs/sim:lutz/mjxCopy head branch name to clipboard

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Commits on May 22, 2024

• feat: created new default humanoid environment class implementing brax and mjx

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• feat: ran initial training with new MJX environment

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• feat: added nicer training script

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• feat: added training config for stompy

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• feat: storing weight checkpoints and added play

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• feat: added stomppy environment

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• feat: added model checkpointing

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• feat: printing when rendering

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• feat: removed unnecessary model checkpointing

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• Merge branch 'lutz/mjx' of https://github.com/kscalelabs/sim into lutz/mjx

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Commits on May 23, 2024

• chore: cleaned up play script and added CPU-only rendering

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• chore: removed brax replication

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• fix: fixing stompy environment import issues and created simplified mesh

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• chore: sorting libraries, typing, etc

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• chore: cleaned up training scripts and file organization

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• chore: removed unused imports

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• fix: removing duplicate exclude definition in pyproject

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• fix: fixing pyproject static checks

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