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给我画一个关于leggedgym的结构图 - Initial Deployment

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Files changed (2) hide show
  1. README.md +7 -5
  2. index.html +167 -19
README.md CHANGED
@@ -1,10 +1,12 @@
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  ---
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- title: Isaacgym
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- emoji: 🏆
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- colorFrom: blue
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- colorTo: gray
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  sdk: static
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  pinned: false
 
 
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  ---
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- Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference
 
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  ---
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+ title: isaacgym
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+ emoji: 🐳
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+ colorFrom: pink
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+ colorTo: purple
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  sdk: static
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  pinned: false
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+ tags:
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+ - deepsite
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  ---
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+ Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference
index.html CHANGED
@@ -1,19 +1,167 @@
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- <!doctype html>
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- <html>
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- <head>
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- <meta charset="utf-8" />
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- <meta name="viewport" content="width=device-width" />
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- <title>My static Space</title>
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- <link rel="stylesheet" href="style.css" />
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- </head>
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- <body>
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- <div class="card">
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- <h1>Welcome to your static Space!</h1>
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- <p>You can modify this app directly by editing <i>index.html</i> in the Files and versions tab.</p>
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- <p>
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- Also don't forget to check the
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- <a href="https://huggingface.co/docs/hub/spaces" target="_blank">Spaces documentation</a>.
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- </p>
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- </div>
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- </body>
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- </html>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ <!DOCTYPE html>
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+ <html lang="en">
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+ <head>
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+ <meta charset="UTF-8">
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+ <meta name="viewport" content="width=device-width, initial-scale=1.0">
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+ <title>LeggedGym Structure Diagram</title>
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+ <script src="https://cdn.tailwindcss.com"></script>
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+ <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/6.4.0/css/all.min.css">
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+ <style>
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+ .connector {
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+ position: relative;
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+ }
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+ .connector::after {
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+ content: '';
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+ position: absolute;
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+ top: 100%;
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+ left: 50%;
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+ width: 2px;
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+ height: 20px;
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+ background-color: #4b5563;
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+ transform: translateX(-50%);
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+ }
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+ .horizontal-connector {
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+ position: relative;
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+ }
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+ .horizontal-connector::after {
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+ content: '';
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+ position: absolute;
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+ top: 50%;
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+ left: 100%;
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+ width: 20px;
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+ height: 2px;
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+ background-color: #4b5563;
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+ }
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+ @media (max-width: 768px) {
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+ .mobile-stack {
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+ flex-direction: column;
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+ }
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+ .mobile-stack .horizontal-connector::after {
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+ width: 0;
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+ height: 20px;
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+ top: 100%;
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+ left: 50%;
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+ transform: translateX(-50%);
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+ }
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+ }
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+ </style>
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+ </head>
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+ <body class="bg-gray-50 min-h-screen py-8 px-4">
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+ <div class="max-w-6xl mx-auto">
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+ <h1 class="text-3xl font-bold text-center text-gray-800 mb-2">
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+ <i class="fas fa-robot mr-2 text-blue-500"></i>LeggedGym Architecture
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+ </h1>
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+ <p class="text-center text-gray-600 mb-8">A modular framework for legged robot learning</p>
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+
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+ <div class="bg-white rounded-xl shadow-lg p-6 mb-8">
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+ <!-- Main Structure -->
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+ <div class="flex flex-col items-center">
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+ <!-- Top Level -->
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+ <div class="bg-blue-600 text-white px-6 py-3 rounded-lg shadow-md text-center mb-6 connector">
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+ <h2 class="font-bold text-xl">LeggedGym Core</h2>
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+ <p class="text-sm opacity-80">Main framework for legged robot training</p>
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+ </div>
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+
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+ <!-- Second Level -->
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+ <div class="flex mobile-stack justify-center gap-8 mb-6">
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+ <!-- Simulation Module -->
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+ <div class="flex flex-col items-center">
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+ <div class="bg-purple-500 text-white px-5 py-2 rounded-lg shadow-sm text-center mb-6 connector">
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+ <h3 class="font-semibold"><i class="fas fa-cube mr-1"></i> Simulation</h3>
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+ <p class="text-xs opacity-80">Physics engine integration</p>
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+ </div>
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+
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+ <!-- Simulation Children -->
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+ <div class="flex mobile-stack gap-4">
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+ <div class="bg-purple-300 px-4 py-2 rounded text-center text-sm horizontal-connector">
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+ <i class="fas fa-cogs mr-1"></i> Isaac Gym
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+ </div>
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+ <div class="bg-purple-300 px-4 py-2 rounded text-center text-sm">
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+ <i class="fas fa-project-diagram mr-1"></i> PyBullet
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+ </div>
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+ </div>
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+ </div>
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+
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+ <!-- Learning Module -->
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+ <div class="flex flex-col items-center">
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+ <div class="bg-green-500 text-white px-5 py-2 rounded-lg shadow-sm text-center mb-6 connector">
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+ <h3 class="font-semibold"><i class="fas fa-brain mr-1"></i> Learning</h3>
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+ <p class="text-xs opacity-80">RL algorithms & policies</p>
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+ </div>
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+
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+ <!-- Learning Children -->
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+ <div class="flex mobile-stack gap-4">
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+ <div class="bg-green-300 px-4 py-2 rounded text-center text-sm horizontal-connector">
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+ <i class="fas fa-network-wired mr-1"></i> PPO
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+ </div>
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+ <div class="bg-green-300 px-4 py-2 rounded text-center text-sm horizontal-connector">
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+ <i class="fas fa-random mr-1"></i> SAC
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+ </div>
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+ <div class="bg-green-300 px-4 py-2 rounded text-center text-sm">
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+ <i class="fas fa-route mr-1"></i> AMP
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+ </div>
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+ </div>
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+ </div>
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+
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+ <!-- Robot Interface -->
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+ <div class="flex flex-col items-center">
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+ <div class="bg-yellow-500 text-white px-5 py-2 rounded-lg shadow-sm text-center mb-6 connector">
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+ <h3 class="font-semibold"><i class="fas fa-robot mr-1"></i> Robot Interface</h3>
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+ <p class="text-xs opacity-80">Hardware abstraction</p>
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+ </div>
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+
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+ <!-- Robot Children -->
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+ <div class="flex mobile-stack gap-4">
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+ <div class="bg-yellow-300 px-4 py-2 rounded text-center text-sm horizontal-connector">
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+ <i class="fas fa-paw mr-1"></i> ANYmal
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+ </div>
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+ <div class="bg-yellow-300 px-4 py-2 rounded text-center text-sm">
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+ <i class="fas fa-dog mr-1"></i> Unitree
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+ </div>
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+ </div>
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+ </div>
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+ </div>
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+
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+ <!-- Third Level -->
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+ <div class="bg-blue-400 text-white px-6 py-3 rounded-lg shadow-md text-center">
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+ <h2 class="font-bold"><i class="fas fa-tasks mr-1"></i> Applications</h2>
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+ <div class="flex flex-wrap justify-center gap-3 mt-2">
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+ <span class="bg-blue-200 text-blue-800 px-3 py-1 rounded-full text-xs">Locomotion</span>
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+ <span class="bg-blue-200 text-blue-800 px-3 py-1 rounded-full text-xs">Manipulation</span>
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+ <span class="bg-blue-200 text-blue-800 px-3 py-1 rounded-full text-xs">Navigation</span>
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+ <span class="bg-blue-200 text-blue-800 px-3 py-1 rounded-full text-xs">Recovery</span>
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+ </div>
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+ </div>
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+ </div>
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+ </div>
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+
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+ <div class="grid md:grid-cols-3 gap-6">
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+ <div class="bg-white p-4 rounded-lg shadow">
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+ <h3 class="font-semibold text-blue-600 mb-2"><i class="fas fa-cube mr-2"></i>Key Features</h3>
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+ <ul class="text-sm text-gray-600 space-y-1">
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+ <li><i class="fas fa-check-circle text-green-500 mr-1"></i> GPU-accelerated simulation</li>
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+ <li><i class="fas fa-check-circle text-green-500 mr-1"></i> Modular architecture</li>
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+ <li><i class="fas fa-check-circle text-green-500 mr-1"></i> Multi-robot support</li>
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+ <li><i class="fas fa-check-circle text-green-500 mr-1"></i> Curriculum learning</li>
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+ </ul>
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+ </div>
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+ <div class="bg-white p-4 rounded-lg shadow">
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+ <h3 class="font-semibold text-purple-600 mb-2"><i class="fas fa-exchange-alt mr-2"></i>Data Flow</h3>
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+ <div class="text-sm text-gray-600">
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+ <p class="mb-1"><i class="fas fa-arrow-right text-purple-500 mr-1"></i> Observations → Policy</p>
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+ <p class="mb-1"><i class="fas fa-arrow-right text-purple-500 mr-1"></i> Actions → Simulation</p>
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+ <p><i class="fas fa-sync-alt text-purple-500 mr-1"></i> Reward calculation</p>
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+ </div>
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+ </div>
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+ <div class="bg-white p-4 rounded-lg shadow">
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+ <h3 class="font-semibold text-green-600 mb-2"><i class="fas fa-code-branch mr-2"></i>Extensions</h3>
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+ <div class="text-sm text-gray-600">
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+ <p><i class="fas fa-plus-circle text-green-500 mr-1"></i> Custom environments</p>
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+ <p><i class="fas fa-plus-circle text-green-500 mr-1"></i> New robot models</p>
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+ <p><i class="fas fa-plus-circle text-green-500 mr-1"></i> Alternative algorithms</p>
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+ </div>
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+ </div>
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+ </div>
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+ </div>
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+ <p style="border-radius: 8px; text-align: center; font-size: 12px; color: #fff; margin-top: 16px;position: fixed; left: 8px; bottom: 8px; z-index: 10; background: rgba(0, 0, 0, 0.8); padding: 4px 8px;">Made with <img src="https://enzostvs-deepsite.hf.space/logo.svg" alt="DeepSite Logo" style="width: 16px; height: 16px; vertical-align: middle;display:inline-block;margin-right:3px;filter:brightness(0) invert(1);"><a href="https://enzostvs-deepsite.hf.space" style="color: #fff;text-decoration: underline;" target="_blank" >DeepSite</a> - 🧬 <a href="https://enzostvs-deepsite.hf.space?remix=MightyCrane/isaacgym" style="color: #fff;text-decoration: underline;" target="_blank" >Remix</a></p></body>
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+ </html>