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

scripts/train_cts.py

@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+"""Train CTS (Concurrent Teacher-Student) Go1 locomotion.
+
+Usage:
+    uv run scripts/train_cts.py
+    uv run scripts/train_cts.py --num-envs 512
+"""
+import logging
+import motrix_rl.tasks.go1_go2style  # noqa: triggers env + rlcfg registration
+
+from absl import app, flags
+from skrl import config as skrl_config
+
+from motrix_rl import utils
+from motrix_rl.skrl.jax.train.cts_ppo import CTSTrainer
+
+logger = logging.getLogger(__name__)
+
+_ENV = flags.DEFINE_string("env", "go1-cts-flat-walk-go2style", "CTS env to train")
+_NUM_ENVS = flags.DEFINE_integer("num-envs", 1024, "Number of environments")
+_SEED = flags.DEFINE_integer("seed", None, "Random seed")
+
+
+def main(argv):
+    supports = utils.get_device_supports()
+    logger.info(supports)
+
+    env_name = _ENV.value
+    override = {}
+    if _NUM_ENVS.present:
+        override["num_envs"] = _NUM_ENVS.value
+    if _SEED.present:
+        override["runner.seed"] = _SEED.value
+
+    skrl_config.jax.backend = "jax"
+
+    trainer = CTSTrainer(env_name=env_name, cfg_override=override)
+    trainer.train()
+
+
+if __name__ == "__main__":
+    app.run(main)