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v1.1.4; Add ZMP margin metric

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wty-yy
2026-03-23 11:24:00 +08:00
parent be054d02b0
commit fe35afea22
17 changed files with 782 additions and 19 deletions
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7
robogauge/tasks/gauge/goals/base_goal.py
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@@ -49,10 +49,15 @@ class BaseGoal:
def update_metrics(self, metrics: dict):
""" Update step metrics for the current goal."""
quality_score = 1.0
quality_weight_sum = 0.0
for metric_name, value in metrics.items():
self.goal_metrics[metric_name].append(value)
if metric_name not in QUALITY_WEIGHTS:
continue
quality_score *= min(max(1e-9, value), 1.0) ** QUALITY_WEIGHTS[metric_name]
quality_score = quality_score ** (1.0 / sum(QUALITY_WEIGHTS.values()))
quality_weight_sum += QUALITY_WEIGHTS[metric_name]
if quality_weight_sum > 0.0:
quality_score = quality_score ** (1.0 / quality_weight_sum)
self.goal_quality_scores.append(quality_score)
@property