cyy/go2_rl_gym
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v1.0.0; max train step 120k

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wty-yy
2026-01-13 12:37:05 +08:00
parent b4bf32b4cd
commit 02da83d800
6 changed files with 32 additions and 29 deletions
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14
legged_gym/envs/go2/go2_config.py
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@@ -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