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v0.1.13; add 2.5 rad trunctation; add LevelPipeline binary search maximum terrain levels

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wty-yy
2025-12-22 22:57:20 +08:00
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UPDATE.md
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# UPDATE
TODO: 处理LevelPipeline返回的result信息
## 20251222
### v0.1.13
1. 即使模型崩溃也要继续测完后续的goals, 但是跳过当前的sub goals
2. 加入当翻滚角>2.5rad时认为崩溃, 自动切换为下一个goal
3. 初步完成二分查找level等级, 细节如下
LevelPipeline: 一种二分查找当前域随机化(friction, base_mass)下的最大成功terrain等级, 每次测试中采用三个seeds, 调用MultiPipeline同时测试三个seeds, 如果同时全部成功, 则判定为通过
## 20251221
### v0.1.12
1. 在模型崩溃时也记录下最后的gauge信息, 修改single/multi pipeline逻辑