cyy/go2_rl_gym
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Add mcp-cts

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This commit is contained in:
wty-yy
2025-12-31 01:16:33 +08:00
parent 010c5b1700
commit 9ed3f0e144
11 changed files with 609 additions and 145 deletions
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9
legged_gym/envs/__init__.py
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@@ -1,11 +1,12 @@
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
from legged_gym.envs.go2.go2_config import GO2Cfg, GO2CfgPPO, GO2CfgCTS, GO2CfgMoECTS, GO2CfgMCPCTS
from .base.legged_robot import LeggedRobot
from legged_gym.utils.task_registry import task_registry
task_registry.register( "go2", Go2Robot, GO2Cfg(), GO2CfgPPO())
task_registry.register( "go2_cts", Go2Robot, GO2Cfg(), GO2CfgCTS())
task_registry.register( "go2_moe_cts", Go2Robot, GO2Cfg(), GO2CfgMoECTS())
task_registry.register("go2", Go2Robot, GO2Cfg(), GO2CfgPPO())
task_registry.register("go2_cts", Go2Robot, GO2Cfg(), GO2CfgCTS())
task_registry.register("go2_moe_cts", Go2Robot, GO2Cfg(), GO2CfgMoECTS())
task_registry.register("go2_mcp_cts", Go2Robot, GO2Cfg(), GO2CfgMCPCTS())

9
legged_gym/envs/base/legged_robot_config.py
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@@ -359,3 +359,12 @@ class LeggedRobotCfgMoECTS(LeggedRobotCfgCTS):
class runner(LeggedRobotCfgCTS.runner):
policy_class_name = 'ActorCriticMoECTS'
algorithm_class_name = 'MoECTS'
class LeggedRobotCfgMCPCTS(LeggedRobotCfgCTS):
class policy(LeggedRobotCfgCTS.policy):
obs_no_goal_mask = None # mask for observation without goal inputs
student_expert_num = 8 # number of experts in the student model
class runner(LeggedRobotCfgCTS.runner):
policy_class_name = 'ActorCriticMCPCTS'
algorithm_class_name = 'MCPCTS'

13
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
from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO, LeggedRobotCfgCTS, LeggedRobotCfgMoECTS, LeggedRobotCfgMoECTS, LeggedRobotCfgMCPCTS
class GO2Cfg(LeggedRobotCfg):
class init_state(LeggedRobotCfg.init_state):
@@ -264,3 +264,14 @@ class GO2CfgMoECTS(LeggedRobotCfgMoECTS):
experiment_name = 'go2_moe_cts'
max_iterations = 150000
save_interval = 500
class GO2CfgMCPCTS(LeggedRobotCfgMCPCTS):
class policy(LeggedRobotCfgMCPCTS.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 runner(LeggedRobotCfgMCPCTS.runner):
run_name = ''
experiment_name = 'go2_mcp_cts'
max_iterations = 150000
save_interval = 500