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fix: clamp std before distribution, lower init_noise to 0.5, NaN guard

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8x54zj-m
2026-06-30 15:35:58 +08:00
parent f2a8e0e2ff
commit b0f1da4596
61 changed files with 6522 additions and 45 deletions
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uv run tensorboard --logdir runs/go1-stairs-terrain-walk-no-linevel
uv run scripts/train.py --env go1-stairs-terrain-walk-no-linevel \
--checkpoint runs/go1-stairs-terrain-walk-no-linevel/skrl/26-06-23_01-37-34-357547_PPO/checkpoints/best_agent.pickle
uv run scripts/play.py --env go1-stairs-terrain-walk-no-linevel --num-envs 1
# 只训练楼梯地形，线速度奖励 3 倍，继承 best_agent 权重
uv run scripts/train.py --env go1-stairs-terrain-walk-no-linevel --force-phase 0 --tracking-linvel-scale 1.0
uv run scripts/play.py --env go1-stairs-terrain-walk-no-linevel --num-envs 1 --force-phase 0 --num-envs 1024
DREAMWAQ_TERRAIN=flat_stairs uv run scripts/train_dreamwaq_rsl.py \
--num-envs 2048 --init-noise-std 2.0 \
--resume runs/go1-dreamwaq-walk/rsl_dwaq/06-29_16-01-56/model_3000.pt