gaponet

GapONet sim-to-real humanoid robot control workflows for Isaac Lab. Use when working on the GapONet repository or tasks involving GapONet setup, environment validation, training, evaluation, checkpoint export, lightweight deployment, DeepONet, Transformer or MLP policy configs, humanoid operator or AMASS tasks, motion data schemas, robot asset integration, or agent-friendly run artifacts.

Run GapONet data preparation. Use when the user invokes /gaponet-data or $gaponet-data, or asks to process, validate, stage, copy, symlink, or prepare GapONet motion .npz data for training or inference.

Run GapONet inference and evaluation. Use when the user invokes /gaponet-inf or $gaponet-inf, or asks to export a GapONet checkpoint to TorchScript/JIT, run lightweight inference, deploy a policy, evaluate test motion data, or produce inference metrics.

Run GapONet training. Use when the user invokes /gaponet-train or $gaponet-train, or asks to train a GapONet humanoid policy after data preparation using Isaac Lab, Isaac Sim, rsl_rl, DeepONet, Transformer, MLP, or the unified runner.