From 361502a8a5a376844963984f29b39d58f7494f58 Mon Sep 17 00:00:00 2001
From: 8x54zj-m <8x54zj-m@motrixlab.local>
Date: Tue, 30 Jun 2026 15:43:02 +0800
Subject: [PATCH] fix: terrain start level 0, clear ep_report after consume

---
 motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py | 2 +-
 motrix_rl/src/motrix_rl/rslrl/torch/wrap_vec_env.py    | 5 +++--
 motrix_rl/src/motrix_rl/tasks/go1.py                   | 2 +-
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py b/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
index 766dd55..a3a4447 100644
--- a/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
+++ b/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
@@ -410,7 +410,7 @@ class DreamWaQTask(Go1WalkTask):
             all_indices = np.tile(np.arange(self._num_cols), self._num_rows)
             all_origins = self._make_origins(all_levels, all_indices)
             self._terrain_origins = all_origins.reshape(self._num_rows, self._num_cols, 2)
-            self._max_init_level = 5
+            self._max_init_level = 0  # 从平地起步，靠课程升级
 
         if num_reset > 0 and self._init_done and state is not None and hasattr(state, 'info'):
             old_info = state.info
diff --git a/motrix_rl/src/motrix_rl/rslrl/torch/wrap_vec_env.py b/motrix_rl/src/motrix_rl/rslrl/torch/wrap_vec_env.py
index 25c7d12..dbb7a3d 100644
--- a/motrix_rl/src/motrix_rl/rslrl/torch/wrap_vec_env.py
+++ b/motrix_rl/src/motrix_rl/rslrl/torch/wrap_vec_env.py
@@ -127,9 +127,10 @@ class RslrlNpEnvWrap(VecEnv):
         if "time_outs" in state.info:
             extras["time_outs"] = torch.from_numpy(state.info["time_outs"]).to(self._device)
 
-        # 将 episode 各项奖励传入 TensorBoard
+        # 将 episode 各项奖励传入 TensorBoard（消费后清除，防止重复上报）
         if "ep_report" in state.info:
-            extras["episode"] = state.info["ep_report"]
+            extras["episode"] = dict(state.info["ep_report"])
+            del state.info["ep_report"]
 
         return obs, rewards, dones, extras
 
diff --git a/motrix_rl/src/motrix_rl/tasks/go1.py b/motrix_rl/src/motrix_rl/tasks/go1.py
index 99d2b1e..55360df 100644
--- a/motrix_rl/src/motrix_rl/tasks/go1.py
+++ b/motrix_rl/src/motrix_rl/tasks/go1.py
@@ -135,7 +135,7 @@ class rslrl:
             runner.actor.class_name = (
                 "motrix_rl.rslrl.torch.models.cenet_actor:CENetActorModel")
             runner.actor.hidden_dims = [512, 256, 128]
-            runner.actor.init_noise_std = 0.5  # 降噪声先学站稳，再探索行走
+            runner.actor.init_noise_std = 1.0  # 上游原值
 
             # Critic：标准 MLPModel，输入 privileged_obs
             runner.critic.class_name = "MLPModel"