How to train the HumanoidAMP task with different motion files

[hieutrongnguyen]

Hello. Thanks all the authors for this wonderful work. I'm playing with the HumanoidAMP task. However, I can just train with one single motion file defined in the HumanoidAMP.yaml file (for example, train with just walking motion, or just running motion). When I tried training with multiple motion files, I modified the motion file in the configuration file HumanoidAMP.yaml as:

motion_file: ["amp_humanoid_run.npy", "amp_humanoid_walk.npy"]

but it didn't work. I also tried to modify the code but it has not yet been successful. So I would like to ask anyone who solved similar problems before. Thank you so much for your help!

[hieutrongnguyen]

I solved the problem. Change the motion_file in the configuration file HumanoidAMP.yaml as a yaml file, for example dataset_humanoidAMP.yaml:

motion_file: dataset_humanoidAMP.yaml

where dataset_humanoidAMP.yaml is located in the same folder with motion files, and its content is similar to as follows:

motions:

• file: "amp_humanoid_run.npy"
  weight: 0.5
• file: "amp_humanoid_walk.npy"
  weight: 0.5