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name: motion-imitation description: "DeepMimic, AWR, LCP, and static-object/vault motion-imitation workflows for MimicKit." disable-model-invocation: true metadata: disco-role: operating license: Apache 2.0

motion-imitation

Use this sub-skill for motion-tracking workflows in a MimicKit checkout:

• DeepMimic PPO-style motion imitation
• AWR motion imitation
• LCP motion imitation
• vault and other static-object imitation recipes built on StaticObjectsEnv

Do not use this sub-skill for AMP, ADD, or ASE discriminator flows, SMP prior or policy flows, motion conversion, motion viewing, or generic runner/backend setup; route those to adversarial-control, smp, motion-tools, or runner-and-backends.

Start here

1. Read references/deepmimic-awr-lcp-workflows.md for command templates, recipe/config pairings, and vault/static-object notes.
2. Read references/config-tuning.md before editing motion, reward, termination, or batch settings.
3. Read references/troubleshooting.md when a command fails, a model will not load, or an asset is missing.

What to keep aligned

• Keep env_config, agent_config, and args/*.txt aligned for the same recipe.
• Use the same character family across the asset, motion, env, agent, and arg files.
• For test runs, start from the matching training arg file and override with --mode test, --num_envs 4, --visualize true, and an explicit --model_file.
• For vault/static-object recipes, keep the objects list, contact bodies, and motion clip in sync.
• If the simulator backend or downloaded assets are missing, hand off to runner-and-backends instead of inventing a runnable command.

Key knobs this sub-skill explains

• motion_file
• reward_*_w and reward_*_scale
• pose_termination and pose_termination_dist
• enable_tar_obs and tar_obs_steps
• joint_err_w
• lcp_weight
• awr_temp and a_weight_clip
• shared PPO/AWR/LCP steps_per_iter, iters_per_output, test_episodes, actor_epochs, actor_batch_size, critic_epochs, and critic_batch_size

Provenance

This sub-skill was distilled from README.md, docs/README_DeepMimic.md, docs/README_AWR.md, docs/README_LCP.md, mimickit/envs/deepmimic_env.py, mimickit/envs/static_objects_env.py, mimickit/learning/ppo_agent.py, mimickit/learning/awr_agent.py, mimickit/learning/lcp_agent.py, and the data/envs, data/agents, and args filename matrix.