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replace joint_pos_limits reward with isaaclabs'; clean code; update readme.

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wertyuilife
2026-04-28 14:10:04 +08:00
parent 41241914a3
commit 411236eb3c
5 changed files with 20 additions and 38 deletions
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README.md
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@@ -182,9 +182,10 @@ xml_path: "{ROOT_DIR}/resources/go2/your-custom-scene.xml"
- Different tracking reward formulation (fixed sigma vs. dynamic sigma)
- Different rewards:
- lower dof_acc_l2 weight in Lab due to physics-step level implementation and sensitivity to outliers
- lower joint_acc_l2 weight in Lab due to physics-step level implementation and sensitivity to outliers
- extra joint_pos_penalty_l1 reward in Lab due to better performance
- Lack domain_rand: randomize_motor_strength
- Extra domain_rand: randomize_com_positions_other (lead to better performance)
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