cyy/go2_rl_gym
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v0.1.5 prev1; Add DualMoE

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wty-yy
2026-01-07 00:21:59 +08:00
parent 05e1e81d64
commit e4aa714eab
10 changed files with 487 additions and 12 deletions
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12
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, LeggedRobotCfgMCPCTS, LeggedRobotCfgACMoECTS
from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO, LeggedRobotCfgCTS, LeggedRobotCfgMoECTS, LeggedRobotCfgMoECTS, LeggedRobotCfgMCPCTS, LeggedRobotCfgACMoECTS, LeggedRobotCfgDualMoECTS
class GO2Cfg(LeggedRobotCfg):
class init_state(LeggedRobotCfg.init_state):
@@ -285,3 +285,13 @@ class GO2CfgACMoECTS(LeggedRobotCfgACMoECTS):
experiment_name = 'go2_ac_moe_cts'
max_iterations = 150000
save_interval = 500
class GO2CfgDualMoECTS(LeggedRobotCfgDualMoECTS):
class policy(LeggedRobotCfgDualMoECTS.policy):
expert_num = 8 # number of experts in the student model
class runner(LeggedRobotCfgDualMoECTS.runner):
run_name = ''
experiment_name = 'go2_dual_moe_cts'
max_iterations = 150000
save_interval = 500