cyy/go2_rl_gym
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

v0.1.8; add configs, fix bugs

Browse Source
This commit is contained in:
wty-yy
2026-01-10 02:50:58 +08:00
parent 836a4e544f
commit bcb3757403
7 changed files with 711 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
UPDATE.md
View File

@@ -1,8 +1,16 @@
# 20260109
## v0.1.8
1. 加入两个配置legged_gym/envs/go2/go2_config_vanilla.py和legged_gym/envs/go2/go2_config_vanilla2.py
- vanilla: episode长度25, 指令采样步数5, 打开move_down_by_accumulated_xy_command, dynamic_resample_commands, 关闭heading_command, zero_command_curriculum, limit_vel_prob, command_range_curriculum, dynamic_sigma
- vanilla2：episode长度20, 指令采样步数10, 打开haeding_command, 关闭move_down_by_accumulated_xy_command, dynamic_resample_commands, zero_command_curriculum, limit_vel_prob, command_range_curriculum, dynamic_sigma
2. 加入go2_config_fast_flat_move.py配置
3. onnx支持rem-cts导出
# 20260107
## v0.1.7
Fix bug:
1. 修复`cfg.commands.dynamic_resample_commands=False`时, 未根据环境调整指令采样范围的问题
2. 修复`env_command_ranges`初始值问题
3. 修复`dynamic_resample_commands=False`时, 未更新`commands_resampling_step`问题
## v0.1.6
1. 加入`go2_rem_cts`, student使用MoE结构, teacher使用普通CTS, 使用非共享权重和全goal输入
2. 加入`move_down_by_accumulated_xy_command`选择是否通过累计速度来降低等级