Align DreamWaQ Go1 environment rewards and initialization

2026-07-22 14:08:10 +08:00
parent 0555776c11
commit 82f4997deb
5 changed files with 85 additions and 25 deletions
--- a/motrix_rl/src/motrix_rl/tasks/go1.py
+++ b/motrix_rl/src/motrix_rl/tasks/go1.py
@@ -112,7 +112,7 @@ class rslrl:

            # Runner 设置（严格对齐上游 LeggedRobotCfgPPO + Go1RoughCfgPPO）
            runner.seed = 5                     # 上游 seed=5
-            runner.max_iterations = 5000
+            runner.max_iterations = 3000
            runner.num_steps_per_env = 24
            runner.experiment_name = "go1_dreamwaq_walk"
            runner.save_interval = 50