From 004304b8b77bf31461bc4910dc77e0432b492362 Mon Sep 17 00:00:00 2001 From: wty-yy <993660140@qq.com> Date: Fri, 6 Feb 2026 11:51:52 +0800 Subject: [PATCH] Add evaluation table and ckpt --- README.md | 19 +++++++++++++++++-- README_zh.md | 21 +++++++++++++++++++-- deploy/deploy_mujoco/configs/go2.yaml | 2 +- 3 files changed, 37 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index bb7f3df..514c19d 100644 --- a/README.md +++ b/README.md @@ -53,6 +53,21 @@ python legged_gym/scripts/train.py --task=xxx --- +#### Model Evaluation + +The trained model above was evaluated using the [RoboGauge](https://github.com/wty-yy/RoboGauge) framework via Sim2Sim. The models in the table below are the best models after 150k training steps. + +| Model | Score | Tracking | Safety | Quality | Level | Download | +| --- | --- | --- | --- | --- | --- | --- | +| go2_moe_cts | **0.6819** | **0.6714** | **0.7794** | **0.7748** | **7.85** | [ckpt](https://drive.google.com/drive/folders/1aoXUxw-pGK1MbyzQ4IJzlA_tW8zrWP3Y?usp=drive_link) | +| go2_moe_ng_cts | 0.6670 | 0.6552 | 0.7651 | 0.7613 | 7.67 | [ckpt](https://drive.google.com/drive/folders/1Rr89ZS0QJT-o-5LXsNqCWJdLGweqmN4Q?usp=drive_link) | +| go2_ac_moe_cts | 0.6652 | 0.6527 | 0.7615 | 0.7552 | 7.57 | [ckpt](https://drive.google.com/file/d/1CDLsaR4XR3oG09ZHQ5u3lrJLfwyH2jz2/view?usp=drive_link) | +| go2_mcp_cts | 0.6545 | 0.6440 | 0.7531 | 0.7476 | 7.48 | [ckpt](https://drive.google.com/drive/folders/1fd9cDVhV1dY6hcxuSZq2mcvFUp6V5Zfl?usp=drive_link) | +| [HIM](https://github.com/InternRobotics/HIMLoco) | 0.5209 | 0.5200 | 0.6200 | 0.6100 | 5.78 | [ckpt](https://drive.google.com/file/d/1remJbGoTorqnArsz8Z1ewY4TVobss4Fb/view?usp=drive_link) | +| [DreamWaQ](https://arxiv.org/abs/2301.10602) | 0.4832 | 0.4800 | 0.5800 | 0.5700 | 5.26 | [ckpt](https://drive.google.com/file/d/19BEBeiQqjHcPgGrN3AX6D7Yefs_8eswL/view?usp=drive_link) | + +> In the downloaded ckpt, *.pt files are used for [Python deployment](#41-python-deployment), and *.onnx files are used for [C++ deployment](#42-c-deployment). + ### 2. Play Visualize policies inside Gym with: @@ -106,7 +121,7 @@ Connect an Xbox-compatible gamepad to enable teleoperation; otherwise, the agent ### 4. Sim2Real -#### 4.1 Python Deployment (requires [unitree_sdk2_python](https://github.com/unitreerobotics/unitree_sdk2_python)) +#### 4.1 Python Deployment ```bash # Onboard Jetson: pick Python by JetPack version @@ -132,7 +147,7 @@ python deploy_real_go2.py eth0 Press `start` to stand and `A` to engage the controller. -#### 4.2 C++ Deployment (requires unitree_cpp_deploy) +#### 4.2 C++ Deployment Follow the usage described in [unitree_cpp_deploy](https://github.com/wty-yy-mini/unitree_cpp_deploy). diff --git a/README_zh.md b/README_zh.md index c377c0b..cbb3a49 100644 --- a/README_zh.md +++ b/README_zh.md @@ -53,6 +53,23 @@ python legged_gym/scripts/train.py --task=xxx --- +#### 模型评估 + +使用[RoboGauge](https://github.com/wty-yy/RoboGauge)框架通过Sim2Sim评估上述训练模型，下表中模型为150k训练步中的最优模型 + +| Model | Score | Tracking | Safety | Quality | Level | Download | +| --- | --- | --- | --- | --- | --- | --- | +| go2_moe_cts | **0.6819** | **0.6714** | **0.7794** | **0.7748** | **7.85** | [ckpt](https://drive.google.com/drive/folders/1aoXUxw-pGK1MbyzQ4IJzlA_tW8zrWP3Y?usp=drive_link) | +| go2_moe_ng_cts | 0.6670 | 0.6552 | 0.7651 | 0.7613 | 7.67 | [ckpt](https://drive.google.com/drive/folders/1Rr89ZS0QJT-o-5LXsNqCWJdLGweqmN4Q?usp=drive_link) | +| go2_ac_moe_cts | 0.6652 | 0.6527 | 0.7615 | 0.7552 | 7.57 | [ckpt](https://drive.google.com/file/d/1CDLsaR4XR3oG09ZHQ5u3lrJLfwyH2jz2/view?usp=drive_link) | +| go2_mcp_cts | 0.6545 | 0.6440 | 0.7531 | 0.7476 | 7.48 | [ckpt](https://drive.google.com/drive/folders/1fd9cDVhV1dY6hcxuSZq2mcvFUp6V5Zfl?usp=drive_link) | +| [HIM](https://github.com/InternRobotics/HIMLoco) | 0.5209 | 0.5200 | 0.6200 | 0.6100 | 5.78 | [ckpt](https://drive.google.com/file/d/1remJbGoTorqnArsz8Z1ewY4TVobss4Fb/view?usp=drive_link) | +| [DreamWaQ](https://arxiv.org/abs/2301.10602) | 0.4832 | 0.4800 | 0.5800 | 0.5700 | 5.26 | [ckpt](https://drive.google.com/file/d/19BEBeiQqjHcPgGrN3AX6D7Yefs_8eswL/view?usp=drive_link) | + +> 下载的ckpt中*.pt用于[py部署](#41-python实物部署)，*.onnx用于[cpp部署](#42-c实物部署) + +--- + ### 2. Play 如果想要在 Gym 中查看训练效果，可以运行以下命令： @@ -106,7 +123,7 @@ python deploy/deploy_mujoco/deploy_go2.py ### 4. Sim2Real -#### 4.1 Python实物部署 （需要安装 [unitree_sdk2_python](https://github.com/unitreerobotics/unitree_sdk2_python)） +#### 4.1 Python实物部署 ```bash # 如果机载电脑部署，根据Jetson版本选择Python版本 @@ -130,7 +147,7 @@ python deploy_real_go2.py eth0 ``` `start`站立，`A`启动控制 -#### 4.2 C++实物部署（需要安装 unitree_cpp_deploy） +#### 4.2 C++实物部署 参考[unitree_cpp_deploy](https://github.com/wty-yy-mini/unitree_cpp_deploy)使用说明。 diff --git a/deploy/deploy_mujoco/configs/go2.yaml b/deploy/deploy_mujoco/configs/go2.yaml index fb47b0e..0ad696b 100644 --- a/deploy/deploy_mujoco/configs/go2.yaml +++ b/deploy/deploy_mujoco/configs/go2.yaml @@ -28,7 +28,7 @@ action_scale: 0.25 cmd_scale: [2.0, 2.0, 0.25] num_actions: 12 num_obs: 45 -max_cmd: [2.0, 1.5, 2.5] +max_cmd: [2.0, 1.0, 2.5] cmd_init: [1.0, 0.0, 0.0]