update history length to 10; update readme; add demo resources; update policy files and deploy config.

2026-06-12 05:20:29 +08:00
parent f78f791275
commit 7f13461612
9 changed files with 115 additions and 10 deletions
--- 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/
--- a/README.md
+++ b/README.md
@@ -1,22 +1,90 @@
 <div align="center">
 	<h1 align="center">Go2 RL RobotLab</h1>
+	<a href="https://robogauge.github.io/complete/">
+		<img src="https://img.shields.io/badge/Project-Page-green.svg" alt="Project Page"/>
+	</a>
+	<a href="https://robogauge.github.io/static/files/arxiv.pdf">
+		<img src="https://img.shields.io/badge/Paper-RSS%202025-blue.svg" alt="RSS 2025 Paper"/>
+	</a>
+	<a href="https://arxiv.org/abs/2602.00678">
+		<img src="https://img.shields.io/badge/arXiv-2602.00678-b31b1b.svg" alt="arXiv:2602.00678"/>
+	</a>
+	<a href="https://github.com/wty-yy/go2_rl_gym">
+		<img src="https://img.shields.io/badge/IsaacGym-go2__rl__gym-orange.svg" alt="IsaacGym go2_rl_gym"/>
+	</a>
 </div>

 ## 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).

 ---

 <p align="center">
-  <img src="resources/go2/isaaclab_scene.png" width="70%"/>
+  <img src="resources/results/isaaclab_scene.png" width="70%"/>
 </p>

 ---

+## Demos
+
+<p align="center">
+  <b>Train in IsaacLab → validate with MuJoCo Sim2Sim → evaluate on the real Unitree Go2.</b>
+</p>
+
+<table>
+  <tr>
+    <td width="50%" align="center">
+      <b>IsaacLab Play</b><br/>
+      <sub>Policy rollout in the IsaacLab environment.</sub><br/><br/>
+      <img src="https://raw.githubusercontent.com/wertyuilife2/picture-bed/main/go2_rl_robotlab/demo-isaaclab.gif" width="80%"/>
+    </td>
+    <td width="50%" align="center">
+      <b>MuJoCo Sim2Sim</b><br/>
+      <sub>Exported policy running in MuJoCo before real-world deployment.</sub><br/><br/>
+      <img src="https://raw.githubusercontent.com/wertyuilife2/picture-bed/main/go2_rl_robotlab/demo-sim2sim.gif" width="80%"/>
+    </td>
+  </tr>
+  <tr>
+    <td width="50%" align="center">
+      <b>Real Robot</b><br/>
+      <sub>Robust walking front on stairs.</sub><br/><br/>
+      <img src="https://raw.githubusercontent.com/wertyuilife2/picture-bed/main/go2_rl_robotlab/demo-real-walk-front.gif" width="100%"/>
+    </td>
+    <td width="50%" align="center">
+      <b>Real Robot</b><br/>
+      <sub>Robust walking sideways on stairs.</sub><br/><br/>
+      <img src="https://raw.githubusercontent.com/wertyuilife2/picture-bed/main/go2_rl_robotlab/demo-real-walk-side.gif" width="100%"/>
+    </td>
+  </tr>
+</table>
+
+---
+
+## RoboGauge Benchmark
+
+<p align="center">
+  <b><a href="https://github.com/wty-yy/RoboGauge">RoboGauge</a> score comparison between go2_rl_robotlab and the original go2_rl_gym.</b>
+</p>
+
+<p align="center">
+  <img src="resources/results/robogauge_compare.png" width="100%"/>
+</p>
+
+### 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
--- 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

--- 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
--- a/resources/go2/stairs_and_slope.xml
+++ b/resources/go2/stairs_and_slope.xml
@@ -0,0 +1,39 @@
+<mujoco model="stairs_and_slope">
+  <include file="go2.xml"/>
+ 
+  <statistic center="0 0 0.1" extent="0.8"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="-130" elevation="-20"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+
+    <body name="stairs" pos="2 0 0">
+    <geom name="step_0" type="box" size="0.15 3.0 0.095" pos="0.15 0 0.095" rgba="1 1 1 1"/>
+    <geom name="step_1" type="box" size="0.15 3.0 0.095" pos="0.45 0 0.285" rgba="1 1 1 1"/>
+    <geom name="step_2" type="box" size="0.15 3.0 0.095" pos="0.75 0 0.475" rgba="1 1 1 1"/>
+    <geom name="step_3" type="box" size="0.15 3.0 0.095" pos="1.05 0 0.665" rgba="1 1 1 1"/>
+    <geom name="step_4" type="box" size="0.15 3.0 0.095" pos="1.35 0 0.855" rgba="1 1 1 1"/>
+    <geom name="step_5" type="box" size="0.15 3.0 0.095" pos="1.65 0 1.045" rgba="1 1 1 1"/>
+    <geom name="step_6" type="box" size="0.15 3.0 0.095" pos="1.95 0 1.235" rgba="1 1 1 1"/>
+    <geom name="step_7" type="box" size="0.15 3.0 0.095" pos="2.25 0 1.425" rgba="1 1 1 1"/>
+    <geom name="step_8" type="box" size="0.15 3.0 0.095" pos="2.55 0 1.615" rgba="1 1 1 1"/>
+    <geom name="step_9" type="box" size="0.15 3.0 0.095" pos="2.85 0 1.805" rgba="1 1 1 1"/>
+    </body>
+
+    <!-- 斜坡：从最后一阶末端（X=6）开始，向下倾斜0.4rad，水平长度约4.493m，白色 -->
+    <geom name="ramp" type="box" size="2.2465 3.0 0.1" pos="7.0465 0 0.95" rgba="1 1 1 1" euler="0 0.4 0"/>
+  </worldbody>
+</mujoco>
--- a/resources/results/isaaclab_scene.png
+++ b/resources/results/isaaclab_scene.png
--- a/resources/results/robogauge_compare.png
+++ b/resources/results/robogauge_compare.png
--- 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