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v0.1.12 add all slope levels; plot radar with bar

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wty-yy
2025-12-22 00:32:59 +08:00
parent 59522777c9
commit 989332b951
32 changed files with 503 additions and 258 deletions
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7
robogauge/tasks/robots/go2/go2_moe.py
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@@ -15,7 +15,12 @@ from robogauge.tasks.robots.go2.go2 import Go2
class Go2MoE(Go2):
def get_action(self, obs: np.ndarray):
obs_tensor = torch.tensor(obs, dtype=torch.float32).unsqueeze(0).to(self.device)
action, weights = self.model(obs_tensor)
action, results = self.model(obs_tensor)
if isinstance(results, tuple):
weights, latent = results
latent = latent.detach().cpu().numpy().squeeze(0)
else:
weights = results
action = action.detach().cpu().numpy().squeeze(0)[self.model2mj_idx]
weights = weights.detach().cpu().numpy().squeeze(0)
self.last_action = action