diff --git a/.gitignore b/.gitignore
index d8b21e7..7809a4f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -72,14 +72,12 @@ __pycache__/
# ML checkpoints / datasets
*.pth
-*.onnx
*.npz
*.npy
# Large ML artifacts (do not commit)
*.pth
*.ckpt
-*.onnx
# logs
logs/
diff --git a/README.md b/README.md
index ce1813f..25908db 100644
--- a/README.md
+++ b/README.md
@@ -1,22 +1,90 @@
## Overview
+Train a Unitree Go2 robot in IsaacLab, and deploy policy to MuJoCo for Sim2Sim. For more, see the [project page](https://robogauge.github.io/complete/).
-Train the Unitree Go2 robot with MoE-CTS in IsaacLab, and deploys policy to MuJoCo for Sim2Sim.
-
-It is a official reproduction of [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym), adapted to the IsaacLab / RobotLab ecosystem.
+It is an official [MoE-CTS](https://robogauge.github.io/static/files/arxiv.pdf) algorithm implementation in IsaacLab / RobotLab, as a reproduction of [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym).
---
- 
+ 
---
+## Demos
+
+
+ Train in IsaacLab → validate with MuJoCo Sim2Sim → evaluate on the real Unitree Go2.
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+
+
+
+ IsaacLab Play
+ Policy rollout in the IsaacLab environment.
+ 
+ |
+
+ MuJoCo Sim2Sim
+ Exported policy running in MuJoCo before real-world deployment.
+ 
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+
+ Real Robot
+ Robust walking front on stairs.
+ 
+ |
+
+ Real Robot
+ Robust walking sideways on stairs.
+ 
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+
+
+
+---
+
+## RoboGauge Benchmark
+
+
+ RoboGauge score comparison between go2_rl_robotlab and the original go2_rl_gym.
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+
+### Algorithm Results (Best of 150k training steps)
+
+| Model | Score | Tracking | Safety | Quality | Level |
+| --- | --- | --- | --- | --- | --- |
+| go2_moe_cts (go2_rl_robotlab) | **0.6828** | **0.6785** | 0.7552 | **0.7645** | **8.17** |
+| go2_moe_cts (go2_rl_gym) | **0.6713** | 0.6669 | **0.7857** | 0.7392 | 7.85 |
+| [CTS](https://arxiv.org/pdf/2405.10830) vanilla | 0.5786 | 0.5755 | 0.7066 | 0.6624 | 6.83 |
+| [HIM](https://github.com/InternRobotics/HIMLoco) | 0.5379 | 0.5453 | 0.6476 | 0.6050 | 6.19 |
+| [DreamWaQ](https://arxiv.org/abs/2301.10602) | 0.5054 | 0.5105 | 0.6149 | 0.5730 | 5.74 |
+
+---
+
## Installation Guide
### 1. Install IsaacLab
diff --git a/deploy/deploy_mujoco/configs/go2.yaml b/deploy/deploy_mujoco/configs/go2.yaml
index af680e6..6097cd3 100644
--- a/deploy/deploy_mujoco/configs/go2.yaml
+++ b/deploy/deploy_mujoco/configs/go2.yaml
@@ -1,8 +1,8 @@
-policy_path: "{ROOT_DIR}/deploy/pre_train/go2/xxx.pt" # policy.pt exported by running scripts/rsl_rl/play.py
+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
-xml_path: "{ROOT_DIR}/resource/go2/stairs.xml"
+xml_path: "{ROOT_DIR}/resources/go2/stairs_and_slope.xml"
-render_fps: 240
+render_fps: 300
video_fps: 60
save_video: false
diff --git a/deploy/pre_train/go2/go2_moe_cts_185k_0.6828.onnx b/deploy/pre_train/go2/go2_moe_cts_185k_0.6828.onnx
new file mode 100644
index 0000000..7f647c9
Binary files /dev/null and b/deploy/pre_train/go2/go2_moe_cts_185k_0.6828.onnx differ
diff --git a/deploy/pre_train/go2/go2_moe_cts_185k_0.6828.pt b/deploy/pre_train/go2/go2_moe_cts_185k_0.6828.pt
new file mode 100644
index 0000000..9e153b3
Binary files /dev/null and b/deploy/pre_train/go2/go2_moe_cts_185k_0.6828.pt differ
diff --git a/resources/go2/stairs_and_slope.xml b/resources/go2/stairs_and_slope.xml
new file mode 100644
index 0000000..75897c9
--- /dev/null
+++ b/resources/go2/stairs_and_slope.xml
@@ -0,0 +1,39 @@
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diff --git a/resources/go2/isaaclab_scene.png b/resources/results/isaaclab_scene.png
similarity index 100%
rename from resources/go2/isaaclab_scene.png
rename to resources/results/isaaclab_scene.png
diff --git a/resources/results/robogauge_compare.png b/resources/results/robogauge_compare.png
new file mode 100644
index 0000000..6b4379e
Binary files /dev/null and b/resources/results/robogauge_compare.png differ
diff --git a/source/robot_lab/robot_lab/tasks/go2/env_cfg.py b/source/robot_lab/robot_lab/tasks/go2/env_cfg.py
index 0651bd1..d9e26f7 100644
--- a/source/robot_lab/robot_lab/tasks/go2/env_cfg.py
+++ b/source/robot_lab/robot_lab/tasks/go2/env_cfg.py
@@ -159,7 +159,7 @@ class ObservationsCfg:
scale=1.0,
)
def __post_init__(self):
- self.history_length = 5
+ self.history_length = 10
self.enable_corruption = True
self.concatenate_terms = True
self.flatten_history_dim = True
+
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