Training Falcon Policy for 23-DoF Booster

[OAHC2022]

Hi, thank you for your excellent work! I’d like to train the Falcon policy for the 23-DoF robot and was wondering how I can obtain or generate the corresponding motion file to replace t1_29dof/v1/accad_all.pkl.

Thanks in advance for your help!

[hang0610]

You will need to do the motion retargeting by yourself for t1 23dof. There are many great open-sourced motion retargeting repo: phc (I used for FALCON), omniretarget, etc.