v1.1.6; fix terrain_weighted_summary bug

2026-03-24 21:55:53 +08:00
parent f713f70561
commit 1ab6c58fd1
10 changed files with 202 additions and 28 deletions
--- a/scripts/run_save_latent.sh
+++ b/scripts/run_save_latent.sh
@@ -0,0 +1,95 @@
+#!/bin/bash
+
+# Change robogauge/tasks/robots/go2/go2_moe_config.py `save_additional_output = True`
+# Add change max velocity to only x=1m/s
+
+source /root/Programs/miniforge3/bin/activate robot
+
+# MODEL_PATH="/root/Coding/RoboGauge/mytest/go2_rem_cts_137k_0.6745.pt"
+# MODEL_PATH="/root/Coding/RoboGauge/mytest/go2_moe_cts_111k_61.09%.pt"
+# MODEL_PATH="/root/Coding/RoboGauge/mytest/go2_moe_cts_111k_61.09%.pt"
+# MODEL_PATH="/root/Coding/RoboGauge/mytest/go2_rem_cts_103k_0.6357.pt"
+# MODEL_PATH="/root/Coding/RoboGauge/mytest/go2_cts_130k_60%.pt"
+MODEL_PATH="/root/Coding/RoboGauge/mytest/go2_moe_cts_79k_0.6637.pt"
+
+# python robogauge/scripts/run.py \
+#     --task-name go2_moe \
+#     --model-path /root/Coding/RoboGauge/mytest/go2_moe_cts_111k_61.09%.pt \
+#     --experiment-name debug \
+#     --stress-benchmark \
+#     --stress-terrain-names flat slope_fd slope_bd stairs_fd stairs_bd wave obstacle \
+#     --num-processes 35 \
+#     --seeds 0 1 2 \
+#     --search-seeds 0 1 2 3 4 \
+#     --frictions 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 \
+#     --compress-logs \
+#     --headless
+
+python robogauge/scripts/run.py \
+    --task-name go2_moe.flat \
+    --model-path ${MODEL_PATH} \
+    --experiment-name latent \
+    --seed 0 \
+    --friction 0.6 \
+    --goals max_velocity \
+    --headless
+
+python robogauge/scripts/run.py \
+    --task-name go2_moe.obstacle \
+    --level 5 \
+    --model-path ${MODEL_PATH} \
+    --experiment-name latent \
+    --seed 0 \
+    --friction 0.6 \
+    --goals max_velocity \
+    --headless
+
+python robogauge/scripts/run.py \
+    --task-name go2_moe.slope_bd \
+    --level 5 \
+    --model-path ${MODEL_PATH} \
+    --experiment-name latent \
+    --seed 0 \
+    --friction 0.6 \
+    --goals max_velocity \
+    --headless
+
+python robogauge/scripts/run.py \
+    --task-name go2_moe.slope_fd \
+    --level 5 \
+    --model-path ${MODEL_PATH} \
+    --experiment-name latent \
+    --seed 0 \
+    --friction 0.6 \
+    --goals max_velocity \
+    --headless
+
+python robogauge/scripts/run.py \
+    --task-name go2_moe.stairs_bd \
+    --level 5 \
+    --model-path ${MODEL_PATH} \
+    --experiment-name latent \
+    --seed 0 \
+    --friction 0.6 \
+    --goals max_velocity \
+    --headless
+
+python robogauge/scripts/run.py \
+    --task-name go2_moe.stairs_fd \
+    --level 5 \
+    --model-path ${MODEL_PATH} \
+    --experiment-name latent \
+    --seed 0 \
+    --friction 0.6 \
+    --goals max_velocity \
+    --headless
+
+python robogauge/scripts/run.py \
+    --task-name go2_moe.wave \
+    --level 5 \
+    --model-path ${MODEL_PATH} \
+    --experiment-name latent \
+    --seed 0 \
+    --friction 0.6 \
+    --goals max_velocity \
+    --headless