17 lines
813 B
Markdown
17 lines
813 B
Markdown
uv run tensorboard --logdir runs/go1-stairs-terrain-walk-no-linevel
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uv run scripts/train.py --env go1-stairs-terrain-walk-no-linevel \
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--checkpoint runs/go1-stairs-terrain-walk-no-linevel/skrl/26-06-23_01-37-34-357547_PPO/checkpoints/best_agent.pickle
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uv run scripts/play.py --env go1-stairs-terrain-walk-no-linevel --num-envs 1
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# 只训练楼梯地形，线速度奖励 3 倍，继承 best_agent 权重
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uv run scripts/train.py --env go1-stairs-terrain-walk-no-linevel --force-phase 0 --tracking-linvel-scale 1.0
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uv run scripts/play.py --env go1-stairs-terrain-walk-no-linevel --num-envs 1 --force-phase 0 --num-envs 1024
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DREAMWAQ_TERRAIN=flat_stairs uv run scripts/train_dreamwaq_rsl.py \
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--num-envs 2048 --init-noise-std 2.0 \
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--resume runs/go1-dreamwaq-walk/rsl_dwaq/06-29_16-01-56/model_3000.pt
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