6level，但是表现一般

motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py

@@ -429,7 +429,7 @@ class DreamWaQTask(Go1WalkTask):
                     cy = half_y - self._border - row * self._cell_size - self._cell_size / 2
                     all_origins[row, col] = [cx, cy]
             self._terrain_origins = all_origins
-            self._max_init_level = 5  # 先 0-3，适应后再提到 5
+            self._max_init_level = 0  # 上游原值
 
         if num_reset > 0 and self._init_done and state is not None and hasattr(state, 'info'):
             old_info = state.info
@@ -439,7 +439,7 @@ class DreamWaQTask(Go1WalkTask):
             base_pose = self._body.get_pose(state.data)
             base_pos = base_pose[done, :2]
             distance = np.linalg.norm(base_pos - old_origins, axis=1)
-            move_up = distance > 3.0  # 走过去 3m 就升级（上游是 4m）
+            move_up = distance > 3.0
             cmd_speed = np.linalg.norm(old_commands[:, :2], axis=1)
             required_dist = cmd_speed * (self.cfg.max_episode_steps * self.cfg.ctrl_dt) * 0.5
             move_down = (distance < required_dist) & ~move_up