From 02da83d80084a620fc35f1002700ba42cc64869e Mon Sep 17 00:00:00 2001 From: wty-yy <993660140@qq.com> Date: Tue, 13 Jan 2026 12:37:05 +0800 Subject: [PATCH] v1.0.0; max train step 120k --- UPDATE.md | 3 +++ legged_gym/envs/go2/go2_config.py | 14 +++++++------- legged_gym/envs/go2/go2_config_fast_flat_move.py | 14 +++++++------- legged_gym/envs/go2/go2_config_vanilla.py | 14 +++++++------- legged_gym/envs/go2/go2_config_vanilla2.py | 14 +++++++------- setup.py | 2 +- 6 files changed, 32 insertions(+), 29 deletions(-) diff --git a/UPDATE.md b/UPDATE.md index f48197c..d55525b 100644 --- a/UPDATE.md +++ b/UPDATE.md @@ -1,3 +1,6 @@ +# 20260113 +## v1.0.0 +1. 确定最大训练步数为120k # 20260112 ## v0.1.9 1. 添加训练完成时, 等待RoboGauge全部评估完全后结束 diff --git a/legged_gym/envs/go2/go2_config.py b/legged_gym/envs/go2/go2_config.py index f01c4a8..d49478f 100644 --- a/legged_gym/envs/go2/go2_config.py +++ b/legged_gym/envs/go2/go2_config.py @@ -238,7 +238,7 @@ class GO2CfgPPO(LeggedRobotCfgPPO): class runner(LeggedRobotCfgPPO.runner): run_name = '' experiment_name = 'go2_ppo' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgCTS(LeggedRobotCfgCTS): @@ -246,7 +246,7 @@ class GO2CfgCTS(LeggedRobotCfgCTS): num_steps_per_env = 24 run_name = '' experiment_name = 'go2_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class policy(LeggedRobotCfgCTS.policy): @@ -264,7 +264,7 @@ class GO2CfgMoECTS(LeggedRobotCfgMoECTS): class runner(LeggedRobotCfgMoECTS.runner): run_name = '' experiment_name = 'go2_moe_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgMCPCTS(LeggedRobotCfgMCPCTS): @@ -275,7 +275,7 @@ class GO2CfgMCPCTS(LeggedRobotCfgMCPCTS): class runner(LeggedRobotCfgMCPCTS.runner): run_name = '' experiment_name = 'go2_mcp_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgACMoECTS(LeggedRobotCfgACMoECTS): @@ -285,7 +285,7 @@ class GO2CfgACMoECTS(LeggedRobotCfgACMoECTS): class runner(LeggedRobotCfgACMoECTS.runner): run_name = '' experiment_name = 'go2_ac_moe_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgDualMoECTS(LeggedRobotCfgDualMoECTS): @@ -295,7 +295,7 @@ class GO2CfgDualMoECTS(LeggedRobotCfgDualMoECTS): class runner(LeggedRobotCfgDualMoECTS.runner): run_name = '' experiment_name = 'go2_dual_moe_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgREMCTS(LeggedRobotCfgREMCTS): @@ -305,5 +305,5 @@ class GO2CfgREMCTS(LeggedRobotCfgREMCTS): class runner(LeggedRobotCfgREMCTS.runner): run_name = '' experiment_name = 'go2_rem_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 diff --git a/legged_gym/envs/go2/go2_config_fast_flat_move.py b/legged_gym/envs/go2/go2_config_fast_flat_move.py index 536382f..a00ab8d 100644 --- a/legged_gym/envs/go2/go2_config_fast_flat_move.py +++ b/legged_gym/envs/go2/go2_config_fast_flat_move.py @@ -268,7 +268,7 @@ class GO2CfgPPO(LeggedRobotCfgPPO): class runner(LeggedRobotCfgPPO.runner): run_name = '' experiment_name = 'go2_ppo' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgCTS(LeggedRobotCfgCTS): @@ -276,7 +276,7 @@ class GO2CfgCTS(LeggedRobotCfgCTS): num_steps_per_env = 24 run_name = '' experiment_name = 'go2_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class policy(LeggedRobotCfgCTS.policy): @@ -294,7 +294,7 @@ class GO2CfgMoECTS(LeggedRobotCfgMoECTS): class runner(LeggedRobotCfgMoECTS.runner): run_name = '' experiment_name = 'go2_moe_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgMCPCTS(LeggedRobotCfgMCPCTS): @@ -305,7 +305,7 @@ class GO2CfgMCPCTS(LeggedRobotCfgMCPCTS): class runner(LeggedRobotCfgMCPCTS.runner): run_name = '' experiment_name = 'go2_mcp_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgACMoECTS(LeggedRobotCfgACMoECTS): @@ -315,7 +315,7 @@ class GO2CfgACMoECTS(LeggedRobotCfgACMoECTS): class runner(LeggedRobotCfgACMoECTS.runner): run_name = '' experiment_name = 'go2_ac_moe_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgDualMoECTS(LeggedRobotCfgDualMoECTS): @@ -325,7 +325,7 @@ class GO2CfgDualMoECTS(LeggedRobotCfgDualMoECTS): class runner(LeggedRobotCfgDualMoECTS.runner): run_name = '' experiment_name = 'go2_dual_moe_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgREMCTS(LeggedRobotCfgREMCTS): @@ -335,5 +335,5 @@ class GO2CfgREMCTS(LeggedRobotCfgREMCTS): class runner(LeggedRobotCfgREMCTS.runner): run_name = '' experiment_name = 'go2_rem_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 diff --git a/legged_gym/envs/go2/go2_config_vanilla.py b/legged_gym/envs/go2/go2_config_vanilla.py index 5d4140f..606385e 100644 --- a/legged_gym/envs/go2/go2_config_vanilla.py +++ b/legged_gym/envs/go2/go2_config_vanilla.py @@ -253,7 +253,7 @@ class GO2CfgPPO(LeggedRobotCfgPPO): class runner(LeggedRobotCfgPPO.runner): run_name = '' experiment_name = 'go2_ppo' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgCTS(LeggedRobotCfgCTS): @@ -261,7 +261,7 @@ class GO2CfgCTS(LeggedRobotCfgCTS): num_steps_per_env = 24 run_name = '' experiment_name = 'go2_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class policy(LeggedRobotCfgCTS.policy): @@ -279,7 +279,7 @@ class GO2CfgMoECTS(LeggedRobotCfgMoECTS): class runner(LeggedRobotCfgMoECTS.runner): run_name = '' experiment_name = 'go2_moe_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgMCPCTS(LeggedRobotCfgMCPCTS): @@ -290,7 +290,7 @@ class GO2CfgMCPCTS(LeggedRobotCfgMCPCTS): class runner(LeggedRobotCfgMCPCTS.runner): run_name = '' experiment_name = 'go2_mcp_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgACMoECTS(LeggedRobotCfgACMoECTS): @@ -300,7 +300,7 @@ class GO2CfgACMoECTS(LeggedRobotCfgACMoECTS): class runner(LeggedRobotCfgACMoECTS.runner): run_name = '' experiment_name = 'go2_ac_moe_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgDualMoECTS(LeggedRobotCfgDualMoECTS): @@ -310,7 +310,7 @@ class GO2CfgDualMoECTS(LeggedRobotCfgDualMoECTS): class runner(LeggedRobotCfgDualMoECTS.runner): run_name = '' experiment_name = 'go2_dual_moe_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgREMCTS(LeggedRobotCfgREMCTS): @@ -320,5 +320,5 @@ class GO2CfgREMCTS(LeggedRobotCfgREMCTS): class runner(LeggedRobotCfgREMCTS.runner): run_name = '' experiment_name = 'go2_rem_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 diff --git a/legged_gym/envs/go2/go2_config_vanilla2.py b/legged_gym/envs/go2/go2_config_vanilla2.py index 474d166..c49d95a 100644 --- a/legged_gym/envs/go2/go2_config_vanilla2.py +++ b/legged_gym/envs/go2/go2_config_vanilla2.py @@ -253,7 +253,7 @@ class GO2CfgPPO(LeggedRobotCfgPPO): class runner(LeggedRobotCfgPPO.runner): run_name = '' experiment_name = 'go2_ppo' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgCTS(LeggedRobotCfgCTS): @@ -261,7 +261,7 @@ class GO2CfgCTS(LeggedRobotCfgCTS): num_steps_per_env = 24 run_name = '' experiment_name = 'go2_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class policy(LeggedRobotCfgCTS.policy): @@ -279,7 +279,7 @@ class GO2CfgMoECTS(LeggedRobotCfgMoECTS): class runner(LeggedRobotCfgMoECTS.runner): run_name = '' experiment_name = 'go2_moe_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgMCPCTS(LeggedRobotCfgMCPCTS): @@ -290,7 +290,7 @@ class GO2CfgMCPCTS(LeggedRobotCfgMCPCTS): class runner(LeggedRobotCfgMCPCTS.runner): run_name = '' experiment_name = 'go2_mcp_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgACMoECTS(LeggedRobotCfgACMoECTS): @@ -300,7 +300,7 @@ class GO2CfgACMoECTS(LeggedRobotCfgACMoECTS): class runner(LeggedRobotCfgACMoECTS.runner): run_name = '' experiment_name = 'go2_ac_moe_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgDualMoECTS(LeggedRobotCfgDualMoECTS): @@ -310,7 +310,7 @@ class GO2CfgDualMoECTS(LeggedRobotCfgDualMoECTS): class runner(LeggedRobotCfgDualMoECTS.runner): run_name = '' experiment_name = 'go2_dual_moe_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 class GO2CfgREMCTS(LeggedRobotCfgREMCTS): @@ -320,5 +320,5 @@ class GO2CfgREMCTS(LeggedRobotCfgREMCTS): class runner(LeggedRobotCfgREMCTS.runner): run_name = '' experiment_name = 'go2_rem_cts' - max_iterations = 150000 + max_iterations = 120000 save_interval = 500 diff --git a/setup.py b/setup.py index 7e4cced..089bd04 100644 --- a/setup.py +++ b/setup.py @@ -2,7 +2,7 @@ from setuptools import find_packages from distutils.core import setup setup(name='go2_rl_gym', - version='0.1.9', + version='1.0.0', author='Wu Tianyang', license="MIT", packages=find_packages(),