lower dof_acc_l2 weight in Lab due to physics-step level implementation and sensitivity to outliers.

2026-04-13 14:56:15 +08:00
parent d0224eb62f
commit fd3650b6da
2 changed files with 6 additions and 1 deletions
--- a/README.md
+++ b/README.md
@@ -160,6 +160,7 @@ xml_path: "{ROOT_DIR}/resources/go2/your-custom-scene.xml"
 ## Differences from `go2_rl_gym`

 - Different tracking reward formulation (fixed sigma vs. dynamic sigma)
+- Different reward weights (e.g., lower dof_acc_l2 weight in Lab due to physics-step level implementation and sensitivity to outliers)
 - Lack domain_rand: randomize_motor_strength

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