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fix: critic called once (was 3x), adaptive KL schedule restored, upgrade 3m

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This commit is contained in:
8x54zj-m
2026-07-01 15:05:50 +08:00
parent ef3ccb2e1a
commit 3038aa7ac7
6 changed files with 149 additions and 9 deletions
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2
motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
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@@ -436,7 +436,7 @@ class DreamWaQTask(Go1WalkTask):
base_pose = self._body.get_pose(state.data)
base_pos = base_pose[done, :2]
distance = np.linalg.norm(base_pos - old_origins, axis=1)
move_up = distance > (self._cell_size / 2.0)
move_up = distance > 3.0 # 走过去 3m 就升级（上游是 4m）
cmd_speed = np.linalg.norm(old_commands[:, :2], axis=1)
required_dist = cmd_speed * (self.cfg.max_episode_steps * self.cfg.ctrl_dt) * 0.5
move_down = (distance < required_dist) & ~move_up

3
motrix_envs/src/motrix_envs/locomotion/go1/xmls/assets/flat_stairs.png Normal file
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@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:72618dd9378e12b591ef20eeb089fb930db05012e1dac9bf42439a097740bd58
size 83456

36
motrix_envs/src/motrix_envs/locomotion/go1/xmls/scene_stairs_box.xml Normal file
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@@ -0,0 +1,36 @@
<mujoco model="go1 box stairs scene">
<include file="go1_motor_actuator.xml" />
<include file="materials.xml" />
<statistic center="0 0 0.3" extent="2" meansize="0.04" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="120" elevation="-20" />
<map force="0.01" />
<scale forcewidth="0.3" contactwidth="0.5" contactheight="0.2" />
<quality shadowsize="8192" />
</visual>
<worldbody>
<light pos="0 0 4" dir="0 0 -1" directional="true" />
<geom name="floor" pos="0 0 -0.001" size="0 0 0.001" type="plane"
material="motphys-ground" contype="1" conaffinity="0" priority="0" friction="0.6" />
<geom name="step0" type="box" size="0.15 10 0.03" pos="0.0 0 0.03" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step1" type="box" size="0.15 10 0.03" pos="0.3 0 0.09" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step2" type="box" size="0.15 10 0.03" pos="0.6 0 0.15" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step3" type="box" size="0.15 10 0.03" pos="0.8999999999999999 0 0.21" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step4" type="box" size="0.15 10 0.03" pos="1.2 0 0.27" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step5" type="box" size="0.15 10 0.03" pos="1.5 0 0.32999999999999996" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step6" type="box" size="0.15 10 0.03" pos="1.7999999999999998 0 0.39" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step7" type="box" size="0.15 10 0.03" pos="2.1 0 0.44999999999999996" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step8" type="box" size="0.15 10 0.03" pos="2.4 0 0.51" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step9" type="box" size="0.15 10 0.03" pos="2.6999999999999997 0 0.5700000000000001" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="platform" type="box" size="0.5 10 0.03" pos="3.5 0 0.63" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<!-- Fill under stairs -->
<geom name="fill" type="box" size="1.5 10 0.3" pos="1.5 0 -0.3" rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
</worldbody>
</mujoco>