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

2026-01-12 16:56:24 +08:00
parent bcb3757403
commit b4bf32b4cd
9 changed files with 96 additions and 39 deletions
--- a/legged_gym/envs/base/legged_robot_config.py
+++ b/legged_gym/envs/base/legged_robot_config.py
@@ -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'