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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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exports_go1_flat/metadata.txt Normal file
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# Go1 Flat Terrain Walk - ONNX Policy Metadata
obs_dim: 45
action_dim: 12
hidden_dims: [256, 128, 64]
observation_layout: gyro(3) + gravity(3) + joint_angle(12) + joint_vel(12) + last_action(12) + command(3)
- NO linear velocity in observation
# Joint order: ['FR_hip', 'FR_thigh', 'FR_calf', 'FL_hip', 'FL_thigh', 'FL_calf', 'RR_hip', 'RR_thigh', 'RR_calf', 'RL_hip', 'RL_thigh', 'RL_calf']
default_angles: [-0.0, 0.8999999761581421, -1.7999999523162842, 0.0, 0.8999999761581421, -1.7999999523162842, -0.0, 0.8999999761581421, -1.7999999523162842, 0.0, 0.8999999761581421, -1.7999999523162842]
action_scale: 0.05
kp: 80.0
kd: 1.0
clip_actions: 23.7
clip_observations: 100.0
# Observation scales (applied BEFORE ONNX normalization):
lin_vel: 2.0
ang_vel: 0.25
dof_pos: 1.0
dof_vel: 0.05
command_scale: [2.0, 2.0, 0.25] # for [vx, vy, wz]