From 1bfbda7f40ffab615da293a5949f132eee0173f4 Mon Sep 17 00:00:00 2001 From: wty-yy Date: Thu, 26 Mar 2026 20:22:01 +0800 Subject: [PATCH] Update README for v1.1.6 RoboGauge evaluate --- README.md | 22 +++++++++++----------- README_zh.md | 23 +++++++++++------------ 2 files changed, 22 insertions(+), 23 deletions(-) diff --git a/README.md b/README.md index c56867f..ca72456 100644 --- a/README.md +++ b/README.md @@ -28,7 +28,7 @@ Follow the step-by-step setup guide in [setup.md](doc/setup_en.md). Run the following command to launch training: ```bash -python legged_gym/scripts/train.py --task=xxx +python legged_gym/scripts/train.py --task=xxx --headless ``` #### ⚙️ Arguments @@ -59,14 +59,15 @@ The trained model above was evaluated using the [RoboGauge](https://github.com/w | 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) | +| go2_moe_cts (Ours) | **0.6713** | **0.6669** | **0.7857** | **0.7392** | **7.85** | [ckpt](https://drive.google.com/drive/folders/1aoXUxw-pGK1MbyzQ4IJzlA_tW8zrWP3Y?usp=drive_link) | +| go2_ac_moe_cts | 0.6509 | 0.6442 | 0.7644 | 0.7149 | 7.52 | [ckpt](https://drive.google.com/file/d/1CDLsaR4XR3oG09ZHQ5u3lrJLfwyH2jz2/view?usp=drive_link) | +| go2_mcp_cts | 0.6399 | 0.6355 | 0.7542 | 0.7058 | 7.41 | [ckpt](https://drive.google.com/drive/folders/1fd9cDVhV1dY6hcxuSZq2mcvFUp6V5Zfl?usp=drive_link) | +| go2_moe_ng_cts | 0.6519 | 0.6447 | 0.7639 | 0.7186 | 7.56 | [ckpt](https://drive.google.com/drive/folders/1Rr89ZS0QJT-o-5LXsNqCWJdLGweqmN4Q?usp=drive_link) | +| [CTS](https://arxiv.org/pdf/2405.10830) vanilla | 0.5786 | 0.5755 | 0.7066 | 0.6624 | 6.83 | [ckpt]() | +| [HIM](https://github.com/InternRobotics/HIMLoco) | 0.5379 | 0.5453 | 0.6476 | 0.6050 | 6.19 | [ckpt](https://drive.google.com/file/d/1remJbGoTorqnArsz8Z1ewY4TVobss4Fb/view?usp=drive_link) | +| [DreamWaQ](https://arxiv.org/abs/2301.10602) | 0.5054 | 0.5105 | 0.6149 | 0.5730 | 5.74 | [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). +> In the downloaded ckpt files, `*.pt` is used for [Python deployment](#41-python-deployment), and `*.onnx` is used for [C++ deployment](#42-c-deployment). The models above were all trained with self-collision disabled. In later tests, we found that enabling self-collision can also achieve strong results; see [go2_moe_cts_self_0.6669 - ckpt](https://drive.google.com/drive/folders/1znytqHNtDiZM5J4vaBd-EuM81l91D6s5?usp=drive_link). ### 2. Play @@ -80,9 +81,9 @@ python legged_gym/scripts/play.py --task=xxx - Play launches on randomized terrain with difficulty between 7 and 9. - It automatically loads the latest checkpoint inside the experiment folder. -- Override via `experiment_name` and `checkpoint`, for example: +- You can specify another model via `experiment_name`, `load_run`, and `checkpoint`, for example: ```bash - python legged_gym/scripts/play.py --task=go2_cts --num_envs 100 --experiment_name go2_cts_hard_terrain --checkpoint 100000 + python legged_gym/scripts/play.py --task=go2_moe_cts --num_envs 100 --experiment_name go2_cts_hard_terrain --load_run Mar21_22-54-5-46_ --checkpoint 100000 ``` #### 💾 Policy Export @@ -196,4 +197,3 @@ If you find our work helpful, please cite: New contributions follow the [MIT License](LICENSE); the original unitree_rl_gym remains under the [BSD 3-Clause License](LICENSE). See the complete [LICENSE file](LICENSE) for details. - diff --git a/README_zh.md b/README_zh.md index 68e1de9..074a751 100644 --- a/README_zh.md +++ b/README_zh.md @@ -28,7 +28,7 @@ 运行以下命令进行训练： ```bash -python legged_gym/scripts/train.py --task=xxx +python legged_gym/scripts/train.py --task=xxx --headless ``` #### ⚙️ 参数说明 @@ -59,14 +59,15 @@ python legged_gym/scripts/train.py --task=xxx | Model | Score | Tracking | Safety | Quality | Level | Download | | --- | --- | --- | --- | --- | --- | --- | -| go2_moe_cts (Ours) | **0.6739** | **0.6647** | **0.7776** | **0.7739** | **7.85** | [ckpt](https://drive.google.com/drive/folders/1aoXUxw-pGK1MbyzQ4IJzlA_tW8zrWP3Y?usp=drive_link) | -| go2_ac_moe_cts | 0.6541 | 0.6425 | 0.7558 | 0.7504 | 7.52 | [ckpt](https://drive.google.com/file/d/1CDLsaR4XR3oG09ZHQ5u3lrJLfwyH2jz2/view?usp=drive_link) | -| go2_moe_ng_cts | 0.6537 | 0.6423 | 0.7554 | 0.7525 | 7.56 | [ckpt](https://drive.google.com/drive/folders/1Rr89ZS0QJT-o-5LXsNqCWJdLGweqmN4Q?usp=drive_link) | -| go2_mcp_cts | 0.6423 | 0.6323 | 0.7464 | 0.7412 | 7.41 | [ckpt](https://drive.google.com/drive/folders/1fd9cDVhV1dY6hcxuSZq2mcvFUp6V5Zfl?usp=drive_link) | -| [HIM](https://github.com/InternRobotics/HIMLoco) | 0.5401 | 0.5389 | 0.6412 | 0.6391 | 6.19 | [ckpt](https://drive.google.com/file/d/1remJbGoTorqnArsz8Z1ewY4TVobss4Fb/view?usp=drive_link) | -| [DreamWaQ](https://arxiv.org/abs/2301.10602) | 0.5032 | 0.5010 | 0.6085 | 0.6032 | 5.74 | [ckpt](https://drive.google.com/file/d/19BEBeiQqjHcPgGrN3AX6D7Yefs_8eswL/view?usp=drive_link) | +| go2_moe_cts (Ours) | **0.6713** | **0.6669** | **0.7857** | **0.7392** | **7.85** | [ckpt](https://drive.google.com/drive/folders/1aoXUxw-pGK1MbyzQ4IJzlA_tW8zrWP3Y?usp=drive_link) | +| go2_ac_moe_cts | 0.6509 | 0.6442 | 0.7644 | 0.7149 | 7.52 | [ckpt](https://drive.google.com/file/d/1CDLsaR4XR3oG09ZHQ5u3lrJLfwyH2jz2/view?usp=drive_link) | +| go2_mcp_cts | 0.6399 | 0.6355 | 0.7542 | 0.7058 | 7.41 | [ckpt](https://drive.google.com/drive/folders/1fd9cDVhV1dY6hcxuSZq2mcvFUp6V5Zfl?usp=drive_link) | +| go2_moe_ng_cts | 0.6519 | 0.6447 | 0.7639 | 0.7186 | 7.56 | [ckpt](https://drive.google.com/drive/folders/1Rr89ZS0QJT-o-5LXsNqCWJdLGweqmN4Q?usp=drive_link) | +| [CTS](https://arxiv.org/pdf/2405.10830) vanilla | 0.5786 | 0.5755 | 0.7066 | 0.6624 | 6.83 | [ckpt]() | +| [HIM](https://github.com/InternRobotics/HIMLoco) | 0.5379 | 0.5453 | 0.6476 | 0.6050 | 6.19 | [ckpt](https://drive.google.com/file/d/1remJbGoTorqnArsz8Z1ewY4TVobss4Fb/view?usp=drive_link) | +| [DreamWaQ](https://arxiv.org/abs/2301.10602) | 0.5054 | 0.5105 | 0.6149 | 0.5730 | 5.74 | [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) +> 下载的 ckpt 中，`*.pt` 用于[Python 实物部署](#41-python实物部署)，`*.onnx` 用于[C++ 实物部署](#42-c实物部署)。上述模型均在关闭自碰撞的设置下训练；后续测试发现，开启自碰撞也能取得不错效果，参考 [go2_moe_cts_self_0.6669 - ckpt](https://drive.google.com/drive/folders/1znytqHNtDiZM5J4vaBd-EuM81l91D6s5?usp=drive_link)。 --- @@ -82,9 +83,9 @@ python legged_gym/scripts/play.py --task=xxx - Play 启动参数为随机地形，难度在7到9之间。 - 默认加载实验文件夹最新训练的一个模型。 -- 可通过 `experiment_name` 和 `checkpoint` 指定其他模型，例如 +- 可通过 `experiment_name`, `load_run` 和 `checkpoint` 指定其他模型，例如 ```bash - python legged_gym/scripts/play.py --task=go2_cts --num_envs 100 --experiment_name go2_cts_hard_terrain --checkpoint 100000 + python legged_gym/scripts/play.py --task=go2_moe_cts --num_envs 100 --experiment_name go2_cts_hard_terrain --load_run Mar21_22-54-5-46_ --checkpoint 100000 ``` #### 💾 导出网络 @@ -196,5 +197,3 @@ python deploy_real_go2.py eth0 新增内容根据 [MIT License](./LICENSE) 授权，原仓库unitree_rl_gym根据 [BSD 3-Clause License](./LICENSE) 授权。 详情请阅读完整 [LICENSE 文件](./LICENSE)。 - -