cyy/go2_rl_gym
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add evaluation table and ckpt

Browse Source
This commit is contained in:
wty-yy
2026-02-06 11:51:52 +08:00
parent ff2551cbf2
commit 004304b8b7
3 changed files with 37 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
README.md
View File

@@ -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).

21
README_zh.md
View File

@@ -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。

2
deploy/deploy_mujoco/configs/go2.yaml
View File

@@ -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]