From b2668a9886da1f61ce7795bfe96172f832e744a2 Mon Sep 17 00:00:00 2001 From: wertyuilife Date: Mon, 23 Mar 2026 11:13:27 +0800 Subject: [PATCH] update readme. --- README.md | 35 ++++++++++++++----- .../robot_lab/robot_lab/tasks/go2/__init__.py | 1 - 2 files changed, 26 insertions(+), 10 deletions(-) diff --git a/README.md b/README.md index 6828878..bd6670d 100644 --- a/README.md +++ b/README.md @@ -4,11 +4,11 @@ Train Unitree Go2 with MoE-CTS. -This is a reproduction version of [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym) on robotlab/isaaclab. +This is a reproduction version of [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym) on RobotLab/IsaacLab. ## Installation Guide -### 1. Base Installation +### 1. Install IsaacLab Install Isaac Lab by following the [installation guide](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html). Notice that we use certain version of IsaacLab packages, make sure: @@ -18,8 +18,8 @@ isaaclab <= 0.53.1 # tested on 0.53.1 isaaclab-rl <= 0.4.7 # tested on 0.4.7 ``` -### 2. Modified Library Setup -This branch uses a customized version of `rsl_rl` and `robot_lab`. To install it, run the following commands in your terminal: +### 2. Install customized RSL-RL and RobotLab +We uses a customized version of `rsl_rl` and `robot_lab`. To install it, run the following commands: ```bash python -m pip install -e source/robot_lab @@ -28,14 +28,31 @@ python -m pip install -e source/rsl_rl ## Try examples -You can use the following commands to run all environments: - -RSL-RL: +Use the following commands to train and play: ```bash # Train -python scripts/reinforcement_learning/rsl_rl/train.py --task= --headless +python scripts/reinforcement_learning/rsl_rl/train.py --task=Robotlab-Go2-v0 --headless --num_envs=4096 # Play -python scripts/reinforcement_learning/rsl_rl/play.py --task= +python scripts/reinforcement_learning/rsl_rl/play.py --task=Robotlab-Go2-v0 --num_envs=1024 ``` + +## Configuration + +1. Modify `source/robot_lab/robot_lab/tasks/go2/env_cfg.py` for environment config. + +2. Modify `source/robot_lab/robot_lab/tasks/go2/rsl_rl_cfg.py` for algorithm config. + +3. Modify `source/robot_lab/robot_lab/tasks/go2/__init__.py` to add your own task with new config. + + +## Acknowledgements +This repository would not exist without the following open-source projects: + +- [isaac_lab](https://github.com/isaac-sim/IsaacLab): Unified framework for robot learning built on NVIDIA Isaac Sim. +- [rsl_rl](https://github.com/leggedrobotics/rsl_rl.git): Reinforcement learning algorithms. +- [robot_lab](https://github.com/fan-ziqi/robot_lab.git): RL Extension Library for Robots, Based on IsaacLab. + +Related publications implemented in this repo: +- [CTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotion](https://arxiv.org/pdf/2405.10830) diff --git a/source/robot_lab/robot_lab/tasks/go2/__init__.py b/source/robot_lab/robot_lab/tasks/go2/__init__.py index b12b290..627d0cd 100644 --- a/source/robot_lab/robot_lab/tasks/go2/__init__.py +++ b/source/robot_lab/robot_lab/tasks/go2/__init__.py @@ -23,7 +23,6 @@ gym.register( disable_env_checker=True, kwargs={ "env_cfg_entry_point": f"{__name__}.env_cfg:Go2EnvCfg", - # "env_cfg_entry_point": f"{__name__}.origin_env_cfg:UnitreeGo2RoughEnvCfg", "rsl_rl_cfg_entry_point": f"{__name__}.rsl_rl_cfg:MoECTSRunnerCfg", }, )