v0.1.6; add rem-cts

2026-01-07 23:01:52 +08:00
parent 858314fcfa
commit 41295f7e72
10 changed files with 419 additions and 10 deletions
--- a/legged_gym/envs/base/legged_robot_config.py
+++ b/legged_gym/envs/base/legged_robot_config.py
@@ -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'