{"id":50689543,"url":"https://github.com/simeon-ned/predictive-style-matching","last_synced_at":"2026-06-09T01:34:23.928Z","repository":{"id":362484847,"uuid":"1250626445","full_name":"simeon-ned/predictive-style-matching","owner":"simeon-ned","description":"Predictive Style Matching (PSM), is method in which an offline predictor maps the robot’s lower-body state history and velocity commands to interpretable upper-body joint and gait targets that shape the rewards during training. 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This repo registers the `Psm-G1` task via mjlab’s task entry point. See the [mjlab docs](https://mujocolab.github.io/mjlab/) for install notes, multi-GPU training, and play/export.\n\nHardware deployment is described for [unitree_rl_mjlab](https://github.com/unitreerobotics/unitree_rl_mjlab) (also mjlab-based).\n\n## Install\n\n```bash\ngit clone https://github.com/simeon-ned/predictive-style-matching.git\ncd predictive-style-matching\nuv sync\n```\n\n## Quick start\n\n**Predictor (offline)**\n\n```bash\nuv run psm-predictor-train\nuv run psm-predictor-play --npz data/motions/your_clip.npz\n```\n\nLogs go to `logs/predictor/\u003ctimestamp\u003e/` (`predictor.pth`, `metadata.pkl`, `config.yaml`).\n\n**RL ([mjlab](https://github.com/mujocolab/mjlab))**\n\n```bash\nuv run psm-env-train Psm-G1\nuv run psm-env-play Psm-G1\nuv run psm-list-envs   # optional: list registered tasks\n```\nBy default, RL uses the **latest** bundle under `logs/predictor/`, then falls back to `src/psm/predictor/weights/` if none exist. Override:\n\n```bash\nuv run psm-env-train Psm-G1 --predictor-path /path/to/bundle\nuv run psm-env-train Psm-G1 --predictor-bundled\n# or: --env.commands.twist.predictor-path /path/to/bundle\n```\n\nPolicy logs: `logs/rsl_rl/g1_psm/` (each run snapshots the active predictor under `params/predictor/`). ONNX: `\u003crun\u003e/params/latest.onnx` on play.\n\n**Deploy:** [unitree_rl_mjlab](https://github.com/unitreerobotics/unitree_rl_mjlab) on the robot; copy the exported policy from your play run.\n\n## Repository layout\n\n```text\n├── README.md           # this file — code \u0026 usage\n├── pyproject.toml\n├── data/\n├── src/psm/\n│   ├── predictor/      # training; logs → logs/predictor/; weights/ = packaged fallback\n│   ├── scripts/        # psm-env-train, psm-env-play, utilities\n│   └── env/            # RL (Psm-G1): cfg/, mdp/, runner.py, utils/ (deploy, symmetry, predictor path/log)\n└── docs/               # GitHub Pages project site (not Python)\n    ├── index.html\n    └── static/\n```\n\nPaper TeX may live in a separate private repo during review; figures for the site are under `docs/static/images/`.\n\n\u003c!-- ## Citation — enable after arXiv posting\n\nIf you use this work, please cite:\n\n```bibtex\n@misc{nedelchev2026psm,\n  title         = {Predictive Style Matching: Natural and Robust Humanoid Locomotion},\n  author        = {Nedelchev, Simeon and Zaliaev, Eduard and Chaikovskaia, Ekaterina and Davydenko, Egor and Gorbachev, Roman},\n  year          = {2026},\n  eprint        = {XXXX.XXXXX},\n  archivePrefix = {arXiv},\n  primaryClass  = {cs.RO},\n  url           = {https://arxiv.org/abs/XXXX.XXXXX}\n}\n```\n--\u003e\n\n## Acknowledgments\n\n- [mjlab](https://github.com/mujocolab/mjlab) — RL environment and training stack\n- [MuJoCo](https://github.com/google-deepmind/mujoco) — physics simulation\n- [unitree_rl_mjlab](https://github.com/unitreerobotics/unitree_rl_mjlab) — G1 sim2real deploy reference\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsimeon-ned%2Fpredictive-style-matching","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsimeon-ned%2Fpredictive-style-matching","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsimeon-ned%2Fpredictive-style-matching/lists"}