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Section Navigation

Installation

  • 📦 Prerequisites
  • ⚙️ Direct Installation
  • 🐳 Docker
  • 🚀 Advanced
    • cuRobo Installation
    • PyRoki Installation
    • MJX Installation
    • Blender Installation
    • PyRep Installation
    • GSNet Installation
  • RoboVerse Dataset

Getting Started

  • Quick Start Tutorials
    • Guide
    • Tutorial 0: Static Scene
    • Tutorial 1: Control Robot
    • Tutorial 2: Add New Robot
    • Tutorial 3: Parallel Environments
    • Tutorial 4: Motion Planning
    • Tutorial 5: Hybrid Simulation
    • Tutorial 6: Advanced Rendering
    • Tutorial 7: Collect Demonstrations
    • Tutorial 8: Replay Demonstrations
    • Tutorial 9: Config-Based Task Creation
    • Tutorial 10: Mount Camera
    • Tutorial 12: Domain Randomization
    • Tutorial 13: Teleoperation
    • Tutorial 14: Real-World Assets
    • Tutorial 15: Gaussian Splatting Backgrounds
    • Tutorial 16: EmbodiedGen Layout Scenes
    • Tutorial 17: Rerun Visualization
  • Advanced Tutorials
    • Motion Planning
      • 0. Franka Planning
      • 1. Object Grasping
    • Reinforcement Learning
      • RL Infrastructure Overview
      • Quick Start Examples
      • 0. PPO Reaching
      • 1. FastTD3 Humanoid
    • Imitation Learning
      • 0. Quick start
      • 1. CloseBox
    • Viser Visualization
    • Interactive Object Layout Control

Concepts

  • RoboVerse Project Architecture
  • States, Actions and Trajectories
  • Configuration System
  • Handlers
  • Protocol Simulation
  • Task System
  • Custom Extra Observations
  • Domain Randomization System

Features

  • Support Matrix
  • Cross-Embodiment Transfer
  • Cross-Simulator Support
  • Teleoperate

Development Guide

  • RoboVerse Architecture Review & Improvement Roadmap
  • Testing Infrastructure
  • Docstrings
  • Pre-commit Hooks
  • Contributing New Robots
  • Contributing Trajectories
  • Asset Conversion
  • Development Tips
    • HuggingFace for Developers
    • Git Submodule for Developers
    • Git LFS

API Reference

  • API Reference
    • metasim.example
    • metasim.queries
    • metasim.scenario
    • metasim.sim
    • metasim.task
    • metasim.test
    • metasim.utils
    • metasim.constants
    • metasim.types

Troubleshooting

  • Common Troubleshooting
  • Docker Troubleshooting
  • IsaacLab Troubleshooting
  • Known Issues
    • Unaligned Control
  • Advanced Tutorials
  • Imitation Learning

Imitation Learning#

We provide tutorials for using imitation learning in MetaSim:

  • 0. Quick start
  • 1. CloseBox

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1. FastTD3 Humanoid

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0. Quick start
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