booster_mjlab: Booster K1 Humanoid Training Setup and Sim Demos in mjlab
A lab member introduced booster_mjlab, an mjlab (MuJoCo lab framework) training setup for the Booster K1 humanoid that ships a velocity tracking task, motion tracking, an AMP (Adversarial Motion Priors) implementation and more; the project page hosts additional interactive demos. The 11-second capture runs in a MuJoCo indoor football pitch with green turf, a centre circle and windowed walls: the K1 runs across the field, chases the ball and swings a foot to kick it, while a grey reference humanoid motion sequence plays alongside in a second viewport, the reference-versus-execution view of the motion-tracking task. The repo plugs the K1 model and training tasks into mjlab so velocity control and motion-imitation experiments can be reproduced in simulation.
