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change env num

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ChenXi
2026-03-18 06:32:06 -04:00
parent fdfd962fbc
commit 118d39f4bc
3 changed files with 3 additions and 3 deletions
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2
rl_game/get_up/config/ppo_cfg.yaml
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@@ -35,7 +35,7 @@ params:
normalize_input: True normalize_input: True
normalize_value: True normalize_value: True
value_bootstrap: 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: reward_shaper:
scale_value: 1.0 scale_value: 1.0
normalize_advantage: True normalize_advantage: True

2
rl_game/get_up/config/t1_env_cfg.py
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@@ -284,7 +284,7 @@ class T1GetUpTerminationsCfg:
@configclass @configclass
class T1EnvCfg(ManagerBasedRLEnvCfg): class T1EnvCfg(ManagerBasedRLEnvCfg):
"""主环境配置""" """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): def __post_init__(self):
super().__post_init__() super().__post_init__()

2
rl_game/get_up/train.py
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@@ -9,7 +9,7 @@ from isaaclab.app import AppLauncher
# 1. 配置启动参数 # 1. 配置启动参数
parser = argparse.ArgumentParser(description="Train T1 robot to Get-Up with RL-Games.") 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("--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") parser.add_argument("--seed", type=int, default=42, help="随机种子")
AppLauncher.add_app_launcher_args(parser) AppLauncher.add_app_launcher_args(parser)