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v0.1.6; add rem-cts

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wty-yy
2026-01-07 23:01:52 +08:00
parent 858314fcfa
commit 41295f7e72
10 changed files with 419 additions and 10 deletions
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3
legged_gym/envs/__init__.py
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@@ -1,7 +1,7 @@
from legged_gym import LEGGED_GYM_ROOT_DIR, LEGGED_GYM_ENVS_DIR
from legged_gym.envs.go2.go2_env import Go2Robot
from legged_gym.envs.go2.go2_config import GO2Cfg, GO2CfgPPO, GO2CfgCTS, GO2CfgMoECTS, GO2CfgMCPCTS, GO2CfgACMoECTS, GO2CfgDualMoECTS
from legged_gym.envs.go2.go2_config import GO2Cfg, GO2CfgPPO, GO2CfgCTS, GO2CfgMoECTS, GO2CfgMCPCTS, GO2CfgACMoECTS, GO2CfgDualMoECTS, GO2CfgREMCTS
from .base.legged_robot import LeggedRobot
from legged_gym.utils.task_registry import task_registry
@@ -12,3 +12,4 @@ task_registry.register("go2_moe_cts", Go2Robot, GO2Cfg(), GO2CfgMoECTS())
task_registry.register("go2_mcp_cts", Go2Robot, GO2Cfg(), GO2CfgMCPCTS())
task_registry.register("go2_ac_moe_cts", Go2Robot, GO2Cfg(), GO2CfgACMoECTS())
task_registry.register("go2_dual_moe_cts", Go2Robot, GO2Cfg(), GO2CfgDualMoECTS())
task_registry.register("go2_rem_cts", Go2Robot, GO2Cfg(), GO2CfgREMCTS())

11
legged_gym/envs/base/legged_robot_config.py
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@@ -384,4 +384,13 @@ class LeggedRobotCfgDualMoECTS(LeggedRobotCfgCTS):
class runner(LeggedRobotCfgCTS.runner):
policy_class_name = 'ActorCriticDualMoECTS'
algorithm_class_name = 'DualMoECTS'
algorithm_class_name = 'DualMoECTS'
class LeggedRobotCfgREMCTS(LeggedRobotCfgCTS):
class policy(LeggedRobotCfgCTS.policy):
expert_num = 8 # number of experts in the student model
student_encoder_hidden_dims = [512, 256, 128]
class runner(LeggedRobotCfgCTS.runner):
policy_class_name = 'ActorCriticREMCTS'
algorithm_class_name = 'REMCTS'

12
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
from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO, LeggedRobotCfgCTS, LeggedRobotCfgMoECTS, LeggedRobotCfgMoECTS, LeggedRobotCfgMCPCTS, LeggedRobotCfgACMoECTS, LeggedRobotCfgDualMoECTS, LeggedRobotCfgREMCTS
class GO2Cfg(LeggedRobotCfg):
class init_state(LeggedRobotCfg.init_state):
@@ -295,3 +295,13 @@ class GO2CfgDualMoECTS(LeggedRobotCfgDualMoECTS):
experiment_name = 'go2_dual_moe_cts'
max_iterations = 150000
save_interval = 500
class GO2CfgREMCTS(LeggedRobotCfgREMCTS):
class policy(LeggedRobotCfgREMCTS.policy):
expert_num = 8 # number of experts in the student model
class runner(LeggedRobotCfgREMCTS.runner):
run_name = ''
experiment_name = 'go2_rem_cts'
max_iterations = 150000
save_interval = 500

9
legged_gym/utils/exporter.py
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@@ -82,6 +82,8 @@ class _TorchPolicyExporter(torch.nn.Module):
self.history_length = policy.history.shape[1]
self.history = torch.zeros([1, policy.history.shape[1], policy.history.shape[2]], device='cpu')
self.forward = self.forward_moe_cts
if not hasattr(policy, "obs_no_goal_mask"):
self.forward = self.forward_rem_cts
if hasattr(policy, "actor_mcp"):
self.actor = copy.deepcopy(policy.actor_mcp)
self.obs_no_goal_mask = copy.deepcopy(policy.obs_no_goal_mask).cpu()
@@ -139,6 +141,13 @@ class _TorchPolicyExporter(torch.nn.Module):
latent, weights = self.student_moe_encoder(self.history.flatten(1), history_no_goal)
x = torch.cat([latent, x], dim=1)
return self.actor(x), (weights, latent)
def forward_rem_cts(self, x): # x is single observations
x = self.normalizer(x)
self.history = torch.cat([self.history[:, 1:], x.unsqueeze(1)], dim=1)
latent, weights = self.student_moe_encoder(self.history.flatten(1))
x = torch.cat([latent, x], dim=1)
return self.actor(x), (weights, latent)
def forward_mcp_cts(self, x): # x is single observations
x = self.normalizer(x)