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Align DreamWaQ PPO rollout and policy dynamics

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8x54zj-m
2026-07-22 13:59:16 +08:00
parent 57faf8880b
commit 0555776c11
7 changed files with 26 additions and 15 deletions
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scripts/dreamwaq_sim2sim_mujoco.py
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@@ -39,7 +39,7 @@ HISTORY_LEN = 5
ACTION_SCALE = 0.25
KP = 28.0
KD = 0.7
CLIP_ACTIONS = 4.0
CLIP_ACTIONS = 100.0
CLIP_TORQUES = 80.0
CLIP_OBS = 100.0
MAX_VX, MAX_VY, MAX_WZ = 1.0, 1.0, 1.0