Humanoid-Gym

该数据集是一个强化学习框架，旨在为仿人机器人训练运动技能，特别强调从模拟环境到现实世界的零样本迁移。该数据集支持零样本模拟到现实的迁移，并包含了MuJoCo环境和现实世界环境动态的比较。该数据集适用于两种不同尺寸的仿人机器人：XBot-S（身高1.2米）和XBot-L（身高1.65米），其任务重点是训练仿人机器人的运动技能。

This dataset is a reinforcement learning framework designed for training motor skills of humanoid robots, with a particular emphasis on zero-shot transfer from simulated environments to the real world. It supports zero-shot sim-to-real transfer, and includes comparisons of the dynamics between MuJoCo environments and real-world environments. This dataset is compatible with two humanoid robots of different sizes: XBot-S (1.2 meters in height) and XBot-L (1.65 meters in height), with its tasks focusing on training motor skills for humanoid robots.