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

scripts/train_dreamwaq.py

@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+"""DreamWaQ training — Manaro-Alpha aligned.
+
+Usage:
+    uv run scripts/train_dreamwaq.py                     # default (2048 envs, 100M steps)
+    uv run scripts/train_dreamwaq.py --num-envs 4096 --timesteps 150M
+"""
+import argparse
+
+# Register env + config
+import motrix_envs.locomotion.go1.dreamwaq   # noqa
+import motrix_rl.tasks.go1_dreamwaq          # noqa
+from motrix_rl.skrl.jax.train.dreamwaq_ppo import DreamWaQTrainer
+
+
+def main():
+    p = argparse.ArgumentParser()
+    p.add_argument("--num-envs", type=int, default=2048)
+    p.add_argument("--timesteps", type=str, default="100M")
+    p.add_argument("--seed", type=int, default=42)
+    args = p.parse_args()
+
+    ts = args.timesteps
+    if ts.endswith("M"): ts = int(float(ts[:-1]) * 1_000_000)
+    elif ts.endswith("K"): ts = int(float(ts[:-1]) * 1_000)
+    else: ts = int(ts)
+
+    # SKRL timesteps = env.step() calls, NOT individual env steps
+    skrl_ts = ts // args.num_envs
+
+    override = {
+        "num_envs": args.num_envs,
+        "runner.seed": args.seed,
+        "runner.trainer.timesteps": skrl_ts,
+    }
+
+    trainer = DreamWaQTrainer(env_name="go1-dreamwaq-walk", cfg_override=override)
+    trainer.train()
+
+
+if __name__ == "__main__":
+    main()