protomotions.agents.amp package#
Adversarial Motion Priors (AMP) implementation.
This package implements the AMP algorithm which adds a discriminator network to PPO for learning motion style rewards from reference data.
- Key Components:
AMP: Main AMP agent
AMPModel: Actor-critic with discriminator
AMPAgentConfig: Configuration
Example
>>> from protomotions.agents.amp.agent import AMP
>>> agent = AMP(fabric, env, config)
>>> agent.train()
- Reference:
Peng et al. “AMP: Adversarial Motion Priors for Stylized Physics-Based Character Control” (2021)
Submodules#
- protomotions.agents.amp.agent module
- protomotions.agents.amp.config module
AMPParametersConfigdiscriminator_reward_wdiscriminator_weight_decaydiscriminator_logit_weight_decaydiscriminator_batch_sizediscriminator_grad_penaltydiscriminator_optimization_ratiodiscriminator_replay_keep_probdiscriminator_replay_sizediscriminator_reward_thresholddiscriminator_max_cumulative_bad_transitionsuse_disc_critic__init__()
DiscriminatorConfigAMPModelConfigAMPAgentConfig
- protomotions.agents.amp.model module