AMP Humanoid#

Select --robot-name amp for the compact simulated humanoid in mjcf/amp_humanoid.xml. The robot name does not select the AMP learning algorithm: the agent and rewards are chosen independently by the experiment.

Default Contract#

  • Config: protomotions/robot_configs/amp.py (AMPRobotConfig).

  • Structure: 15 bodies, 36 joint DOFs; +X forward, Z up.

  • Observation anchor: root body pelvis (no explicit anchor override).

  • Target bodies: torso, head, left_foot, right_foot, left_hand, right_hand.

PD gains, armatures and effort limits come from the MJCF; the config selects built-in PD without per-joint overrides. Its hands are fixed bodies rather than the articulated fingers of SMPL-X. The default control rate is 30 Hz.

Motion And Experiments#

Use reference motion prepared for this asset’s body names and joint order. Do not select amp merely because a dataset or an experiment uses an AMP discriminator; that discriminator can also be used with other robot models.