Funny Humanoids

Personal playground project to learn:

• JAX
• MuJoCo / MJX physics
• Brax PPO training loops

The goal is not a production-grade benchmark, but a fun sandbox for experimenting with custom rewards, weird poses, and humanoid behavior.

What This Project Does

• Trains a Brax humanoid policy with PPO (JAX backend + MJX physics).
• Adds custom reward wrappers to push specific styles:
  • Symmetry-aware walking
  • "Naruto"-style arm pose while walking
• Renders rollouts to HTML for quick visual inspection.
• Includes extra MuJoCo assets (humanoid variants, shadow hand) for further experimentation.

Repository Layout

assets/                MuJoCo XML assets (humanoids, scenes, shadow hand)
envs/
	walking_env.py       Custom Brax wrappers and reward shaping
scripts/
	train_walking.py     PPO training entry point (Brax)
	evalaute.py          Loads saved params and renders rollout to HTML
	pose_extractor.py    Utility to inspect joint poses in MuJoCo viewer
	ppo_cleanrl.py       Extra PPO experiment script (CleanRL-style)
models/                Saved model checkpoints (.pkl)
renders/               Rendered HTML rollouts
humanoid.ipynb         Notebook playground