change the reward remove arm disturbance

2026-03-22 02:26:16 -04:00
parent f7c8e6e325
commit 2e2d68a933
2 changed files with 7 additions and 21 deletions
--- a/rl_game/get_up/config/ppo_cfg.yaml
+++ b/rl_game/get_up/config/ppo_cfg.yaml
@@ -39,13 +39,13 @@ params:
    reward_shaper:
      scale_value: 1.0
    normalize_advantage: True
-    gamma: 0.96
+    gamma: 0.98
    tau: 0.95
-    learning_rate: 3e-4
+    learning_rate: 5e-4
    lr_schedule: adaptive
    kl_threshold: 0.008
    score_to_win: 20000
-    max_epochs: 200
+    max_epochs: 500
    save_best_after: 50
    save_frequency: 100
    grad_norm: 0.5