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Add robogauge eval; update single obs export jit

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wty-yy
2026-04-11 19:01:49 +08:00
committed by wertyuilife
parent 4fe5d5f953
commit 1ca3f196a7
8 changed files with 346 additions and 23 deletions
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11
scripts/rsl_rl/train.py
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@@ -108,6 +108,11 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
"""Train with RSL-RL agent."""
# override configurations with non-hydra CLI arguments
agent_cfg = cli_args.update_rsl_rl_cfg(agent_cfg, args_cli)
agent_cfg_dict = agent_cfg.to_dict()
agent_cfg_dict["robogauge"] = {
"enabled": args_cli.robogauge,
"port": args_cli.robogauge_port,
}
env_cfg.scene.num_envs = args_cli.num_envs if args_cli.num_envs is not None else env_cfg.scene.num_envs
agent_cfg.max_iterations = (
args_cli.max_iterations if args_cli.max_iterations is not None else agent_cfg.max_iterations
@@ -185,11 +190,11 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
# create runner from rsl-rl
if agent_cfg.class_name == "OnPolicyRunner":
runner = OnPolicyRunner(env, agent_cfg.to_dict(), log_dir=log_dir, device=agent_cfg.device)
runner = OnPolicyRunner(env, agent_cfg_dict, log_dir=log_dir, device=agent_cfg.device)
elif agent_cfg.class_name == "DistillationRunner":
runner = DistillationRunner(env, agent_cfg.to_dict(), log_dir=log_dir, device=agent_cfg.device)
runner = DistillationRunner(env, agent_cfg_dict, log_dir=log_dir, device=agent_cfg.device)
elif agent_cfg.class_name == "OnPolicyRunnerCTS":
runner = OnPolicyRunnerCTS(env, agent_cfg.to_dict(), log_dir=log_dir, device=agent_cfg.device)
runner = OnPolicyRunnerCTS(env, agent_cfg_dict, log_dir=log_dir, device=agent_cfg.device)
else:
raise ValueError(f"Unsupported runner class: {agent_cfg.class_name}")
# write git state to logs