leggedrobotics / ame2_minimal

# Minimal AME-2 extension of IsaacLab
Website: https://sites.google.com/leggedrobotics.com/ame-2 
Result Video: https://www.youtube.com/watch?v=FNA1crvtBLs 
Author: Chong Zhang (chozhang@ethz.ch or chong.zhang@ai.ethz.ch)
Please cite if you find this codebase or our paper useful:
 [code] 
The codebase is mostly vibecoded, and many IsaacLab know-hows are from Mayank Mittal. Thanks AI and Mayank! 
> **Vibe4Vibe:** the fastest way to get into this codebase is a coding agent.
> **No feature contribution:** It shall be half-archived as a reference to a finished work.
## Setup
+ Isaac Lab 2.3.2 (Isaac Sim 5.1)
+ rsl_rl: bundled in `rsl_rl/`
+ install via container (from the repo root, needs Docker + NVIDIA Container Toolkit):
 [code] 
## Current features:
- G1 teacher training (AME-2, optional TAGA-style active gaze, multi-headed PPO, bf16 optimization, muon optimizer)
- ~~Neural Mapping in the loop (Mid360 lidar) -- *unavailable until the next paper release happening soon (the mapping model is not included)*~~
- ~~G1 student training (LSIO + AME-2, distilled + RL from a teacher JIT) -- *unavailable until the next paper release (requires the neural mapping model)*~~
- Optional new features:
 - torso, arm, and foot shaping for humanoids, not tuned. The original paper only covers legs.
## Existing checkpoints and logs:
- Check `modelzoo/`. Will add new runs in the future.
## Release Plans:
- Lidar Neural Map checkpoint
- Tron1 Env and Depth Neural Map
- Neural Map Training Code
## Notes:
- Some trivial details might not be perfectly aligned between IsaacLab and legged gym. Some might be improved.
- The results for humanoids do not represent the limits of our method (contributions mostly on generalization and neural mapping) -- there is no targetted performance tuning or style optimization, especially for G1.
- MDP setup shall easily transfer to other robots.
## License
© 2026 ETH Zurich 
Created by: Chong Zhang, Victor Klemm, Fan Yang, and Marco Hutter 
Licensed under the GNU General Public License v3.0 (see LICENSE).
Third-party code keeps its original license (see licenses/dependencies):
- `rsl_rl/` is a modified copy of rsl_rl, BSD-3-Clause.
- Files in `ame2/` marked "The Isaac Lab Project Developers" are derived from Isaac Lab, BSD-3-Clause. Isaac Lab itself is not included.
- `ame2/ame2/sensors/mid360_raydirs.npy` (Livox Mid-360 scan pattern) comes from fratopa/Mid360_simulation_plugin.