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v1.0.2-rc1; mv rem_cts to moe_cts, moe_cts to moe_no_goal_cts, fix rem params same as moe, add --robogauge to start

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wty-yy
2026-01-26 17:48:34 +08:00
parent 2aed91e7ce
commit 1798e67c29
23 changed files with 438 additions and 409 deletions
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20
legged_gym/envs/go2/go2_config.py
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@@ -1,5 +1,5 @@
import math
from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO, LeggedRobotCfgCTS, LeggedRobotCfgMoECTS, LeggedRobotCfgMoECTS, LeggedRobotCfgMCPCTS, LeggedRobotCfgACMoECTS, LeggedRobotCfgDualMoECTS, LeggedRobotCfgREMCTS
from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO, LeggedRobotCfgCTS, LeggedRobotCfgMoENGCTS, LeggedRobotCfgMoENGCTS, LeggedRobotCfgMCPCTS, LeggedRobotCfgACMoECTS, LeggedRobotCfgDualMoECTS, LeggedRobotCfgMoECTS
class GO2Cfg(LeggedRobotCfg):
class init_state(LeggedRobotCfg.init_state):
@@ -228,17 +228,17 @@ class GO2CfgCTS(LeggedRobotCfgCTS):
latent_dim = 32
norm_type = 'l2norm'
class GO2CfgMoECTS(LeggedRobotCfgMoECTS):
class policy(LeggedRobotCfgMoECTS.policy):
class GO2CfgMoENGCTS(LeggedRobotCfgMoENGCTS):
class policy(LeggedRobotCfgMoENGCTS.policy):
obs_no_goal_mask = [True] * 6 + [False] * 3 + [True] * 36 # mask for obs without command info
student_expert_num = 8 # number of experts in the student model
class algorithm(LeggedRobotCfgMoECTS.algorithm):
class algorithm(LeggedRobotCfgMoENGCTS.algorithm):
load_balance_coef = 0.01
class runner(LeggedRobotCfgMoECTS.runner):
class runner(LeggedRobotCfgMoENGCTS.runner):
run_name = ''
experiment_name = 'go2_moe_cts'
experiment_name = 'go2_moe_no_goal_cts'
max_iterations = 150000
save_interval = 500
@@ -273,12 +273,12 @@ class GO2CfgDualMoECTS(LeggedRobotCfgDualMoECTS):
max_iterations = 150000
save_interval = 500
class GO2CfgREMCTS(LeggedRobotCfgREMCTS):
class policy(LeggedRobotCfgREMCTS.policy):
class GO2CfgMoECTS(LeggedRobotCfgMoECTS):
class policy(LeggedRobotCfgMoECTS.policy):
expert_num = 8 # number of experts in the student model
class runner(LeggedRobotCfgREMCTS.runner):
class runner(LeggedRobotCfgMoECTS.runner):
run_name = ''
experiment_name = 'go2_rem_cts'
experiment_name = 'go2_moe_cts'
max_iterations = 150000
save_interval = 500