change arm to push the ground reward function

2026-03-21 08:38:17 -04:00
parent d78fdeda0d
commit 72a22bd78a
2 changed files with 38 additions and 25 deletions
--- a/rl_game/get_up/config/ppo_cfg.yaml
+++ b/rl_game/get_up/config/ppo_cfg.yaml
@@ -45,7 +45,7 @@ params:
    lr_schedule: adaptive
    kl_threshold: 0.008
    score_to_win: 20000
-    max_epochs: 500000
+    max_epochs: 1000000
    save_best_after: 50
    save_frequency: 100
    grad_norm: 0.5