We first provide four single-task environments, including path-following, sitting, climbing, and carrying. For each task, we train a specialized policy using AMP. The trained models are:
single_task/ckpt_traj.pth
single_task/ckpt_sit.pth
single_task/ckpt_climb.pth
single_task/ckpt_carry.pth
We then provide our multi-task environment for training the versatile, unified transformer policy. The trained model is:
tokenhsi/ckpt_stage1.pth
Finally, we perform policy adaptation to generalize the learned skills to novel tasks. We list the trained models across various downstream tasks.
