Add mcp-cts

2025-12-31 01:16:33 +08:00
parent 010c5b1700
commit 9ed3f0e144
11 changed files with 609 additions and 145 deletions
--- a/legged_gym/envs/base/legged_robot_config.py
+++ b/legged_gym/envs/base/legged_robot_config.py
@@ -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'