现在action scale设置的是抄的bydmimic的,但是这个不合理, 因为连基本的工作空间都没法覆盖, 我参考 rsl sac的设置了一下,在动作伸展的程度上有明显的可预计的提升,也有wandb曲线参考, 可以参考我的pull request的修改,可以跑一下,你们再改一下.
The current action_scale setting was copied from BydMimic, but I don't think it is appropriate here, since it does not even cover the robot's basic workspace.
I adjusted the action scale based on the setting used in RSL-SAC. This gives a clear and expected improvement in the robot's range of motion and extension. I also have corresponding W&B curves for reference.
You can refer to the changes in my pull request and try running them first. Feel free to further tune the settings based on the results.
现在action scale设置的是抄的bydmimic的,但是这个不合理, 因为连基本的工作空间都没法覆盖, 我参考 rsl sac的设置了一下,在动作伸展的程度上有明显的可预计的提升,也有wandb曲线参考, 可以参考我的pull request的修改,可以跑一下,你们再改一下.
The current
action_scalesetting was copied from BydMimic, but I don't think it is appropriate here, since it does not even cover the robot's basic workspace.I adjusted the action scale based on the setting used in RSL-SAC. This gives a clear and expected improvement in the robot's range of motion and extension. I also have corresponding W&B curves for reference.
You can refer to the changes in my pull request and try running them first. Feel free to further tune the settings based on the results.