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v0.1.9; wait robogauge eval after all training; ppo default train 150k, add yaml cfg save

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This commit is contained in:
wty-yy
2026-01-12 16:56:24 +08:00
parent bcb3757403
commit b4bf32b4cd
9 changed files with 96 additions and 39 deletions
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3
legged_gym/envs/base/legged_robot_config.py
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@@ -393,6 +393,9 @@ class LeggedRobotCfgREMCTS(LeggedRobotCfgCTS):
expert_num = 8 # number of experts in the student model
student_encoder_hidden_dims = [512, 256, 128]
class algorithm(LeggedRobotCfgCTS.algorithm):
load_balance_coef = 0.01 # coefficient for load balance loss
class runner(LeggedRobotCfgCTS.runner):
policy_class_name = 'ActorCriticREMCTS'
algorithm_class_name = 'REMCTS'

2
legged_gym/envs/go2/go2_config.py
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@@ -238,7 +238,7 @@ class GO2CfgPPO(LeggedRobotCfgPPO):
class runner(LeggedRobotCfgPPO.runner):
run_name = ''
experiment_name = 'go2_ppo'
max_iterations = 100000
max_iterations = 150000
save_interval = 500
class GO2CfgCTS(LeggedRobotCfgCTS):

2
legged_gym/envs/go2/go2_config_fast_flat_move.py
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@@ -268,7 +268,7 @@ class GO2CfgPPO(LeggedRobotCfgPPO):
class runner(LeggedRobotCfgPPO.runner):
run_name = ''
experiment_name = 'go2_ppo'
max_iterations = 100000
max_iterations = 150000
save_interval = 500
class GO2CfgCTS(LeggedRobotCfgCTS):

2
legged_gym/envs/go2/go2_config_vanilla.py
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@@ -253,7 +253,7 @@ class GO2CfgPPO(LeggedRobotCfgPPO):
class runner(LeggedRobotCfgPPO.runner):
run_name = ''
experiment_name = 'go2_ppo'
max_iterations = 100000
max_iterations = 150000
save_interval = 500
class GO2CfgCTS(LeggedRobotCfgCTS):

2
legged_gym/envs/go2/go2_config_vanilla2.py
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@@ -253,7 +253,7 @@ class GO2CfgPPO(LeggedRobotCfgPPO):
class runner(LeggedRobotCfgPPO.runner):
run_name = ''
experiment_name = 'go2_ppo'
max_iterations = 100000
max_iterations = 150000
save_interval = 500
class GO2CfgCTS(LeggedRobotCfgCTS):