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3963773b6f
Sample symmetric DreamWaQ speed commands
main
8x54zj-m
2026-07-22 20:08:07 +08:00
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3fa2849123
Sample forward DreamWaQ speed commands
8x54zj-m
2026-07-22 20:03:02 +08:00
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509b3d635c
Cap DreamWaQ adaptive learning rate
8x54zj-m
2026-07-22 19:58:19 +08:00
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944e91e28a
Require consecutive failures for terrain downgrade
8x54zj-m
2026-07-22 19:48:48 +08:00
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d70b084318
Revert "Limit DreamWaQ commands to stand or walk"
8x54zj-m
2026-07-22 19:42:40 +08:00
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6d6a805091
Limit DreamWaQ commands to stand or walk
8x54zj-m
2026-07-22 19:39:13 +08:00
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d22292d726
Revert "Use integrated progress for terrain curriculum"
8x54zj-m
2026-07-22 19:37:26 +08:00
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7358b31de1
Use integrated progress for terrain curriculum
8x54zj-m
2026-07-22 19:10:48 +08:00
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913d5061ff
Fix terrain curriculum traversal and hfield roughness
8x54zj-m
2026-07-22 16:46:32 +08:00
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a0e8501d11
Add independent DreamWaQ stair capability benchmark
8x54zj-m
2026-07-22 16:31:09 +08:00
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82f4997deb
Align DreamWaQ Go1 environment rewards and initialization
8x54zj-m
2026-07-22 14:08:10 +08:00
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0555776c11
Align DreamWaQ PPO rollout and policy dynamics
8x54zj-m
2026-07-22 13:59:16 +08:00
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57faf8880b
Bootstrap RSLRL rewards on environment timeouts
8x54zj-m
2026-07-22 13:30:25 +08:00
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1072565d97
Fix action smoothing history and viewer timing control
8x54zj-m
2026-07-22 13:25:17 +08:00
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1a84cf69ab
Reset invalid DreamWaQ physics states safely
8x54zj-m
2026-07-22 04:30:13 +08:00
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660393a9ee
Add closed-loop DreamWaQ stair validation
8x54zj-m
2026-07-22 02:36:36 +08:00
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9cdf59a99d
Add DreamWaQ ONNX sim2sim pipeline
8x54zj-m
2026-07-22 02:28:03 +08:00
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00cb6f9857
Tune DreamWaQ gait rewards
8x54zj-m
2026-07-22 02:22:04 +08:00
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3648551043
Backup DreamWaQ rslrl stability fixes
8x54zj-m
2026-07-22 02:17:01 +08:00
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c664e7422f
6level，但是表现一般
8x54zj-m
2026-07-02 10:53:17 +08:00
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482dabb893
微调参数
8x54zj-m
2026-07-01 21:02:40 +08:00
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63b235d186
fix: MuJoCo sim2sim default_angles match MotrixSim training
8x54zj-m
2026-07-01 20:55:16 +08:00
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2bd4c05e1b
fix: fixed schedule, init_noise 0.5, AdaBoot cap 0.9 (keep vel head gradient)
8x54zj-m
2026-07-01 16:56:07 +08:00
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a3562fbab1
fix: storage dones/rewards shape squeeze, NaN guard in AdaBoot
8x54zj-m
2026-07-01 16:02:21 +08:00
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be193199e5
feat: AdaBoot — paper CV of episodic reward (not velocity error)
8x54zj-m
2026-07-01 15:57:00 +08:00
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5cbc8e2ca4
feat: AdaBoot — adaptive velocity bootstrapping (paper Section II-C)
8x54zj-m
2026-07-01 15:44:30 +08:00
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308f2090a5
fix: VAE predicts next frame (paper: LVAE = MSE(õ_{t+1}, o_{t+1})), history excludes current obs
8x54zj-m
2026-07-01 15:39:56 +08:00
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3038aa7ac7
fix: critic called once (was 3x), adaptive KL schedule restored, upgrade 3m
8x54zj-m
2026-07-01 15:05:50 +08:00
-
ef3ccb2e1a
fix: NaN protection — dof nan_to_num, physics reset on crash
8x54zj-m
2026-07-01 10:51:36 +08:00
-
35a6f66511
fix: NaN chain break — rewards, std, obs, physics all protected
8x54zj-m
2026-07-01 10:31:47 +08:00
-
1eede03ef0
fix: dual-shuffle bug in terrain_origins — robots now spawn on correct terrain columns
8x54zj-m
2026-06-30 22:16:29 +08:00
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cb62f35ef6
fix: boundary termination, physics crash handler, action_scale 0.25, play script update
8x54zj-m
2026-06-30 19:03:57 +08:00
-
7affccc695
fix: noise scales *obs_scale (match upstream), noise_joint_angle 0.03→0.01
8x54zj-m
2026-06-30 17:30:24 +08:00
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964b409aa1
fix: action_scale 0.05→0.25 (upstream value, 5x difference)
8x54zj-m
2026-06-30 17:29:16 +08:00
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a5e5d5029e
fix: dt in state.reward, feet_air_time first_contact timing
8x54zj-m
2026-06-30 16:42:48 +08:00
-
361502a8a5
fix: terrain start level 0, clear ep_report after consume
8x54zj-m
2026-06-30 15:43:02 +08:00
-
6348cf72bc
fix: squeeze old_log_prob and advantages dims (match upstream)
8x54zj-m
2026-06-30 15:39:03 +08:00
-
aa17ea853e
fix: VAE loss /num_mini_batches, KL use raw sum (align with upstream)
8x54zj-m
2026-06-30 15:38:26 +08:00
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b0f1da4596
fix: clamp std before distribution, lower init_noise to 0.5, NaN guard
8x54zj-m
2026-06-30 15:35:58 +08:00
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f2a8e0e2ff
fix: remove broken feet_air_time override, use base class
8x54zj-m
2026-06-30 15:03:52 +08:00
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3fd2793f28
fix: register dreamwaq env, disable missing stair envs
8x54zj-m
2026-06-30 14:56:01 +08:00
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422421d263
feat: DreamWaQ full replication — env, terrain, CENet, PPO
8x54zj-m
2026-06-30 14:53:12 +08:00
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c569f4d6d9
Merge pull request #5 from Motphys/docs/add-motrixlab-citation
motphys-developers
2026-05-25 16:46:11 +08:00
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e1421d1055
chore: release v0.3.0
motphys-developers
2026-04-02 03:45:10 +00:00
-
c84d382b8c
chore: release v0.2.0.post1
motphys-developers
2026-02-10 16:53:35 +08:00
-
b568ac5600
chore: release v0.2.0
motphys-developers
2026-02-10 08:08:11 +00:00
-
dbfa9e31fa
add go2 training
jyf23
2026-01-02 21:10:34 +08:00
-
62011bb24f
chore: release v0.1.0
motphys-developers
2026-01-04 04:43:04 +00:00
-
13cfbce9a7
chore: release v0.0.2
motphys-developers
2025-11-21 08:51:49 +00:00
-
5133830b5a
chore: release v0.0.1
motphys-developers
2025-11-20 08:57:48 +00:00