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

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This commit is contained in:
wertyuilife2
2026-06-29 03:08:09 +08:00
parent f08058fcb8
commit 28b4516d22
9 changed files with 15 additions and 14 deletions
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6
source/robot_lab/robot_lab/tasks/go2/env_cfg.py
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@@ -350,12 +350,12 @@ class RewardsCfg:
track_lin_vel_xy_exp = RewTerm(
func=mdp.track_lin_vel_xy_exp,
weight=1.0,
weight=2.0,
params={"command_name": "base_velocity", "std": 0.5}
)
track_ang_vel_z_exp = RewTerm(
func=mdp.track_ang_vel_z_exp,
weight=0.5,
weight=1.0,
params={"command_name": "base_velocity", "std": 0.5}
)
lin_vel_z_l2 = RewTerm(func=mdp.lin_vel_z_l2, weight=-2.0)
@@ -466,7 +466,7 @@ class Go2EnvCfg(ManagerBasedRLEnvCfg):
"""Merged configuration for the Go2 robot on rough terrain."""
# Scene settings
scene: Go2SceneCfg = Go2SceneCfg(num_envs=8192, env_spacing=0.5)
scene: Go2SceneCfg = Go2SceneCfg(num_envs=16384, env_spacing=0.5)
# Basic settings
observations: ObservationsCfg = ObservationsCfg()
actions: ActionsCfg = ActionsCfg()

2
source/robot_lab/robot_lab/tasks/go2/mdp/terrains.py
View File

@@ -178,7 +178,7 @@ TERRAIN_CFG = Go2TerrainGeneratorCfg(
# slope correction = 0.75 ~ 36.9 degrees by default,
# but recommended to set for each terrain type separately using with_slope_threshold
slope_threshold=0.75,
use_gym_difficulty=True,
use_gym_difficulty=False,
use_cache=False,
sub_terrains={
"wave": with_slope_threshold(