change env num

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

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__()

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)