cyy/go2_rl_gym
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Add mcp-cts

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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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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