AGILE Chapter Material Instructions

This directory only stores lightweight learning materials required for tutorials, and does not include AGILE model weights, Isaac environment, Nucleus cache, or full running logs.

official_figures

The following image comes from the docs/figures/ directory in the nvidia-isaac/WBC-AGILE official open-source repository of NVIDIA Isaac:

• agile_highlights.png
• separate_upper_lower_body_policy_diagram.png
• evaluation_report_summary.png
• evaluation_report_tracking.png

When using in the main text, please keep the figure titles and source descriptions.

official_videos

The following GIF comes from the docs/videos/ directory in the nvidia-isaac/WBC-AGILE official open-source repository of NVIDIA Isaac:

• booster_t1_vel_sim2sim.gif
• booster_t1_vel_sim2real.gif
• unitree_g1_vel_height_sim2sim.gif
• unitree_g1_vel_height_sim2real.gif
• g1_apple_grasp_black_sort_bin_multi_objects_no_marker_reduced.gif
• unitree_g1_dancing_sim.gif

These materials are used to demonstrate the effects of official papers/projects, but do not represent the results obtained through local re-training in this chapter.

local_videos

The following MP4 is generated by the replication process of this chapter:

• t1_velocity_policy_smoke.mp4: Velocity-T1-v0 pre-trained policy short video.
• g1_velocity_height_checkpoint_smoke.mp4: Velocity-Height-G1-Distillation-Recurrent-v0 full checkpoint short video.
• g1_pickplace_tracking_scene_smoke.mp4: G1-PickPlace-Tracking-v0 scene loading and action chain short video.

These videos are smoke-test evidence, which only indicate that the environment, assets, policy loading, or scenario debugging process can run, but do not represent complete training convergence or real robot deployment.