v0.1.5 prev1; Add DualMoE

2026-01-07 00:21:59 +08:00
parent 05e1e81d64
commit e4aa714eab
10 changed files with 487 additions and 12 deletions
--- a/legged_gym/envs/base/legged_robot_config.py
+++ b/legged_gym/envs/base/legged_robot_config.py
@@ -375,4 +375,13 @@ class LeggedRobotCfgACMoECTS(LeggedRobotCfgCTS):

    class runner(LeggedRobotCfgCTS.runner):
        policy_class_name = 'ActorCriticACMoECTS'
-        algorithm_class_name = 'ACMoECTS'
+        algorithm_class_name = 'ACMoECTS'
+
+class LeggedRobotCfgDualMoECTS(LeggedRobotCfgCTS):
+    class policy(LeggedRobotCfgCTS.policy):
+        expert_num = 8 # number of experts in the student model
+        student_encoder_hidden_dims = [512, 256, 128]
+
+    class runner(LeggedRobotCfgCTS.runner):
+        policy_class_name = 'ActorCriticDualMoECTS'
+        algorithm_class_name = 'DualMoECTS'