Qeqesha Futhi Uphinde Udlale Abalandeleli Bokunyakaza Kwe-Humanoid nge-SuperMimic

Yini i-SuperMimic?

I-SuperMimic iphrojekthi yocwaningo yokuqeqesha umlandeleli wokunyakaza komzimba wonke we-humanoid esebenzisa imodeli yomhlaba eyodwa ehlukanisekayo. Yakhelwe phezu kwe-mjlab futhi inikeza imisebenzi yokuqeqesha emelela izixhumanisi ngezindlela ezimbili ezihlukene.

Ungathola olunye ulwazi lwephrojekthi ekhasini lephrojekthi ye-SuperMimic naku-phepha locwaningo.

Izici Ezibalulekile

• Ukulandelela umzimba wonke we-humanoid: Iphrojekthi iqeqesha inqubomgomo yokulandelela ukunyakaza kwe-humanoid.
• Imodeli yomhlaba ehlukanisekayo: Ukuqeqesha kusebenzisa imodeli yomhlaba eyodwa ehlukanisekayo kanye nenqubomgomo.
• Izethulo zemisebenzi ezimbili: I-SuperMimic isekela imisebenzi yezixhumanisi ezijwayelekile kanye nezixhumanisi eziphelele ze-G1.
• Izikripthi zokuqeqesha nokudlala kabusha: Kunemiyalo ehlukene yokuqala ukuqeqesha nokudlala kabusha imodeli eqeqeshiwe.
• Ukukhetha i-GPU: Ukuqeqesha kungabelwa i-GPU ethile nge-CUDA_VISIBLE_DEVICES.

Faka i-SuperMimic

1. Faka i-uv

I-SuperMimic isebenzisa i-uv ukuqalisa izikripthi zayo. Yifake ngomyalo onikezwe ku-README yephrojekthi:

curl -LsSf https://astral.sh/uv/install.sh | sh

2. Dala indawo yokusebenza

Amareposithri e-SuperMimic ne-mjlab_research kumele akhishwe njengamafolda angomakhelwane. Dala indawo yokusebenza eyabiwe, ungene kuyo, bese ukhipha womabili amareposithri:

mkdir supermimic_ws && cd supermimic_ws
git clone git@github.com:HybridRobotics/supermimic.git
git clone git@github.com:HybridRobotics/mjlab_research.git
cd supermimic

Isakhiwo esiba khona sibeka i-supermimic ne-mjlab_research ezingeni elifanayo lohla lwemibhalo. Qalisa eminye imiyalo ngaphakathi kohla lwemibhalo lwe-supermimic.

Khetha Umsebenzi Wokuqeqesha

I-SuperMimic inikeza ama-ID emisebenzi amabili:

• SuperMimic-GenCoord-G1 isebenzisa ukumelwa kwezixhumanisi ezijwayelekile.
• SuperMimic-MaxCoord-G1 isebenzisa ukumelwa kwezixhumanisi eziphelele.

Sebenzisa i-ID yomsebenzi ngqo kuyo yomibili imiyalo yokuqeqesha neyokudlala kabusha. Khetha ukumelwa okuhambisana nokuhlolwa ofuna ukukuqalisa.

Qeqesha Imodeli Yomhlaba Nenqubomgomo

Isikripthi sokuqeqesha samukela i-ID yomsebenzi negama elichazayo lokuqalisa. Singaqaliswa ku-GPU ekhethiwe kusetshenziswa lesi sakhiwo:

CUDA_VISIBLE_DEVICES=<GPU_ID> uv run src/supermimic/scripts/train.py \
  <TASK_ID> --runner.run_name <description>

Shintsha i-<GPU_ID> ufake inkomba ye-GPU, i-<TASK_ID> ufake eyodwa kuma-ID emisebenzi asekelwayo, bese u-<description> uwufake igama elinengqondo lokuqalisa.

Isibonelo, lo myalo ukhetha i-GPU 0 bese uqala umsebenzi wezixhumanisi ezijwayelekile:

CUDA_VISIBLE_DEVICES=0 uv run src/supermimic/scripts/train.py \
  SuperMimic-GenCoord-G1 --runner.run_name g1_generalized_coordinates

Ukuqeqesha usebenzisa ukumelwa kwezixhumanisi eziphelele, shintsha i-ID yomsebenzi:

CUDA_VISIBLE_DEVICES=0 uv run src/supermimic/scripts/train.py \
  SuperMimic-MaxCoord-G1 --runner.run_name g1_maximal_coordinates

Dlala Kabusha Imodeli Eqeqeshiwe

Sebenzisa isikripthi sokudlala kabusha nge-ID yomsebenzi yokuqala kanye nendlela ye-Weigths & Biases yokuqalisa yemodeli eqeqeshiwe:

uv run src/supermimic/scripts/play.py \
  <TASK_ID> --wandb-path <RUN_PATH>

Ekuqaliseni kwezixhumanisi ezijwayelekile, umyalo uba kanje:

uv run src/supermimic/scripts/play.py \
  SuperMimic-GenCoord-G1 --wandb-path <RUN_PATH>

Shintsha i-<RUN_PATH> ufake indlela yokuqalisa efanele. Gcina i-ID yomsebenzi wokudlala kabusha ihambisana nokumelwa okusetshenziswe ngesikhathi sokuqeqesha.

Izeluleko Zokusebenza Okuthuthukile

Gcina amareposithri engomakhelwane

Gcina isakhiwo sendawo yokusebenza esiboniswe emiyalweni yokusetha. Ungafaki i-mjlab_research ngaphakathi kweriposithri ye-supermimic, noma ngokuphambene nalokho.

Sebenzisa amagama okuqalisa achazayo

Inani le---runner.run_name kufanele likhombe ukuhlolwa ngokucacile. Ukufaka ukumelwa kwezixhumanisi egameni kwenza kube lula ukuhlukanisa ukuqaliswa kwezixhumanisi ezijwayelekile nezixhumanisi eziphelele.

Khetha i-GPU ngokucacile

Emshinini onama-GPU amaningi, setha i-CUDA_VISIBLE_DEVICES ngaphambi komyalo wokuqeqesha ukuze ukhethe i-GPU oyifunayo. Isibonelo, sebenzisa i-CUDA_VISIBLE_DEVICES=1 ukuze inqubo ibone i-GPU 1.

Qondanisa ama-ID emisebenzi ngesikhathi sokudlala kabusha

Lapho udlala kabusha imodeli, sebenzisa i-ID yomsebenzi yokumelwa kwezixhumanisi efanayo naleyo esetshenziswe ukuyiqeqesha. Lokhu kugcina umyalo wokudlala kabusha uhambisana nokuhlolwa kwasekuqaleni.

Amakhredithi NeLayisensi Yephrojekthi

I-SuperMimic iqukethe ikhodi egqugquzelwe yi-ControlVAE, robotic_world_model, ne-DreamerV3. Lawa maphrojekthi asebenzisa amalayisensi e-BSD-3-Clause, Apache-2.0, ne-MIT, ngokulandelana.

I-SuperMimic ikhishwa ngaphansi kwe-Apache License 2.0. Copyright 2026 The SuperMimic Authors.

Isiphetho

I-SuperMimic inikeza ukuhamba komsebenzi okugxile ekuqeqesheni nasekudlaleni kabusha umlandeleli wokunyakaza komzimba wonke we-humanoid kusetshenziswa imodeli yomhlaba ehlukanisekayo. Ngemva kokufaka i-uv nokukhipha amareposithri amabili adingekayo angomakhelwane, khetha ukumelwa kwezixhumanisi, qala ukuqeqesha ku-GPU efanele, bese usebenzisa indlela yokuqalisa ye-Weights & Biases etholakele ukuze udlale kabusha.