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v0.1.3; change robogauge taskname

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wty-yy
2026-01-04 15:51:43 +08:00
parent c2519bb141
commit 319853d0f3
2 changed files with 5 additions and 3 deletions
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UPDATE.md
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@@ -1,3 +1,7 @@
# 20260104
## v0.1.3
1. 修改moe-cts的torch script输出为`action, (weights, latent)`形式, cts输出为`action, (None, latent)`
2. 将cts,moe-cts的robogauge评测task都改为`go2_moe`
# 20251231 # 20251231
## v0.1.2 ## v0.1.2
1. 加入PPO的Robogauge评估 1. 加入PPO的Robogauge评估

4
rsl_rl/rsl_rl/runners/on_policy_runner_cts.py
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@@ -292,9 +292,7 @@ class OnPolicyRunnerCTS:
jit_path = os.path.join(jit_dir, f'policy_jit_{it}.pt') jit_path = os.path.join(jit_dir, f'policy_jit_{it}.pt')
export_policy_as_jit(self.alg.model, jit_dir, filename=f'policy_jit_{it}.pt') export_policy_as_jit(self.alg.model, jit_dir, filename=f'policy_jit_{it}.pt')
# upload to robogauge # upload to robogauge
task_name = 'go2' task_name = 'go2_moe' # Both cts, moe-cts actor return a tuple `action, (latent, ...)`
if 'moe' in self.cfg["algorithm_class_name"].lower() or 'mcp' in self.cfg["algorithm_class_name"].lower():
task_name = 'go2_moe'
self.robogauge_client.submit_task( self.robogauge_client.submit_task(
model_path=jit_path, model_path=jit_path,
step=it, step=it,