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微调参数

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This commit is contained in:
8x54zj-m
2026-07-01 21:02:40 +08:00
parent 63b235d186
commit 482dabb893
2 changed files with 4 additions and 4 deletions
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6
motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
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@@ -118,8 +118,8 @@ class DreamWaQCfg(Go1WalkNpEnvCfg):
r = self.reward_config.scales r = self.reward_config.scales
r.clear() r.clear()
r.update({ r.update({
"tracking_lin_vel": 1.0, "tracking_lin_vel": 1.5,
"tracking_ang_vel": 0.5, "tracking_ang_vel": 1.0,
"lin_vel_z": -2.0, "lin_vel_z": -2.0,
"ang_vel_xy": -0.05, "ang_vel_xy": -0.05,
"orientation": -0.2, "orientation": -0.2,
@@ -429,7 +429,7 @@ class DreamWaQTask(Go1WalkTask):
cy = half_y - self._border - row * self._cell_size - self._cell_size / 2 cy = half_y - self._border - row * self._cell_size - self._cell_size / 2
all_origins[row, col] = [cx, cy] all_origins[row, col] = [cx, cy]
self._terrain_origins = all_origins self._terrain_origins = all_origins
self._max_init_level = 3 # 先 0-3，适应后再提到 5 self._max_init_level = 5 # 先 0-3，适应后再提到 5
if num_reset > 0 and self._init_done and state is not None and hasattr(state, 'info'): if num_reset > 0 and self._init_done and state is not None and hasattr(state, 'info'):
old_info = state.info old_info = state.info

2
motrix_rl/src/motrix_rl/tasks/go1.py
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@@ -112,7 +112,7 @@ class rslrl:
# Runner 设置（严格对齐上游 LeggedRobotCfgPPO + Go1RoughCfgPPO） # Runner 设置（严格对齐上游 LeggedRobotCfgPPO + Go1RoughCfgPPO）
runner.seed = 5 # 上游 seed=5 runner.seed = 5 # 上游 seed=5
runner.max_iterations = 1000 # 论文原值 runner.max_iterations = 3000 # 续训到 3000 轮
runner.num_steps_per_env = 24 runner.num_steps_per_env = 24
runner.experiment_name = "go1_dreamwaq_walk" runner.experiment_name = "go1_dreamwaq_walk"
runner.save_interval = 50 runner.save_interval = 50