v0.1.5 prev1; Add ACMoE

2026-01-06 23:38:32 +08:00
parent ddd7119050
commit 05e1e81d64
13 changed files with 601 additions and 13 deletions
--- a/legged_gym/envs/base/legged_robot_config.py
+++ b/legged_gym/envs/base/legged_robot_config.py
@@ -368,3 +368,11 @@ class LeggedRobotCfgMCPCTS(LeggedRobotCfgCTS):
    class runner(LeggedRobotCfgCTS.runner):
        policy_class_name = 'ActorCriticMCPCTS'
        algorithm_class_name = 'MCPCTS'
+
+class LeggedRobotCfgACMoECTS(LeggedRobotCfgCTS):
+    class policy(LeggedRobotCfgCTS.policy):
+        expert_num = 8 # number of experts in the student model
+
+    class runner(LeggedRobotCfgCTS.runner):
+        policy_class_name = 'ActorCriticACMoECTS'
+        algorithm_class_name = 'ACMoECTS'