From 118d39f4bc0fa0e389f470e67fffe250ae7739d2 Mon Sep 17 00:00:00 2001 From: ChenXi Date: Wed, 18 Mar 2026 06:32:06 -0400 Subject: [PATCH] change env num --- rl_game/get_up/config/ppo_cfg.yaml | 2 +- rl_game/get_up/config/t1_env_cfg.py | 2 +- rl_game/get_up/train.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/rl_game/get_up/config/ppo_cfg.yaml b/rl_game/get_up/config/ppo_cfg.yaml index c1a801d..e40d15e 100644 --- a/rl_game/get_up/config/ppo_cfg.yaml +++ b/rl_game/get_up/config/ppo_cfg.yaml @@ -35,7 +35,7 @@ params: normalize_input: True normalize_value: True value_bootstrap: True - num_actors: 32768 # 同时训练的机器人数量 + num_actors: 16384 # 同时训练的机器人数量 reward_shaper: scale_value: 1.0 normalize_advantage: True diff --git a/rl_game/get_up/config/t1_env_cfg.py b/rl_game/get_up/config/t1_env_cfg.py index c34ade4..1950012 100644 --- a/rl_game/get_up/config/t1_env_cfg.py +++ b/rl_game/get_up/config/t1_env_cfg.py @@ -284,7 +284,7 @@ class T1GetUpTerminationsCfg: @configclass class T1EnvCfg(ManagerBasedRLEnvCfg): """主环境配置""" - scene = T1SceneCfg(num_envs=32768, env_spacing=2.5) + scene = T1SceneCfg(num_envs=16384, env_spacing=2.5) def __post_init__(self): super().__post_init__() diff --git a/rl_game/get_up/train.py b/rl_game/get_up/train.py index 52871ee..ddda5fe 100644 --- a/rl_game/get_up/train.py +++ b/rl_game/get_up/train.py @@ -9,7 +9,7 @@ from isaaclab.app import AppLauncher # 1. 配置启动参数 parser = argparse.ArgumentParser(description="Train T1 robot to Get-Up with RL-Games.") -parser.add_argument("--num_envs", type=int, default=32768, help="起身任务建议并行 4096 即可") +parser.add_argument("--num_envs", type=int, default=16384, help="起身任务建议并行 4096 即可") parser.add_argument("--task", type=str, default="Isaac-T1-GetUp-v0", help="任务 ID") parser.add_argument("--seed", type=int, default=42, help="随机种子") AppLauncher.add_app_launcher_args(parser)