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6level，但是表现一般

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8x54zj-m
2026-07-02 10:53:17 +08:00
parent 482dabb893
commit c664e7422f
1 changed files with 2 additions and 2 deletions
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motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
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@@ -429,7 +429,7 @@ class DreamWaQTask(Go1WalkTask):
cy = half_y - self._border - row * self._cell_size - self._cell_size / 2 cy = half_y - self._border - row * self._cell_size - self._cell_size / 2
all_origins[row, col] = [cx, cy] all_origins[row, col] = [cx, cy]
self._terrain_origins = all_origins 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'): if num_reset > 0 and self._init_done and state is not None and hasattr(state, 'info'):
old_info = state.info old_info = state.info
@@ -439,7 +439,7 @@ class DreamWaQTask(Go1WalkTask):
base_pose = self._body.get_pose(state.data) base_pose = self._body.get_pose(state.data)
base_pos = base_pose[done, :2] base_pos = base_pose[done, :2]
distance = np.linalg.norm(base_pos - old_origins, axis=1) 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) 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 required_dist = cmd_speed * (self.cfg.max_episode_steps * self.cfg.ctrl_dt) * 0.5
move_down = (distance < required_dist) & ~move_up move_down = (distance < required_dist) & ~move_up