update better default training settings; update new policy and results; update readme.

2026-06-29 03:08:09 +08:00
parent f08058fcb8
commit 28b4516d22
9 changed files with 15 additions and 14 deletions
--- a/deploy/deploy_mujoco/configs/go2.yaml
+++ b/deploy/deploy_mujoco/configs/go2.yaml
@@ -1,4 +1,4 @@
-policy_path: "{ROOT_DIR}/deploy/pre_train/go2/go2_moe_cts_185k_0.6828.pt" # policy.pt exported by running scripts/rsl_rl/play.py
+policy_path: "{ROOT_DIR}/deploy/pre_train/go2/go2_moe_cts_176k_0.6984.pt" # policy.pt exported by running scripts/rsl_rl/play.py

 xml_path: "{ROOT_DIR}/resources/go2/stairs_and_slope.xml"

--- a/deploy/pre_train/go2/go2_moe_cts_176k_0.6984.onnx
+++ b/deploy/pre_train/go2/go2_moe_cts_176k_0.6984.onnx
--- a/deploy/pre_train/go2/go2_moe_cts_176k_0.6984.pt
+++ b/deploy/pre_train/go2/go2_moe_cts_176k_0.6984.pt
--- a/deploy/pre_train/go2/go2_moe_cts_185k_0.6828.onnx
+++ b/deploy/pre_train/go2/go2_moe_cts_185k_0.6828.onnx
--- a/deploy/pre_train/go2/go2_moe_cts_185k_0.6828.pt
+++ b/deploy/pre_train/go2/go2_moe_cts_185k_0.6828.pt