Amend some codes to init training for get up better

2026-03-18 06:05:30 -04:00
parent 4933567ef8
commit 9f3ec9d67a
4 changed files with 95 additions and 31 deletions
--- 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: 16384 # 同时训练的机器人数量
+    num_actors: 32768 # 同时训练的机器人数量
    reward_shaper:
      scale_value: 1.0
    normalize_advantage: True
@@ -45,7 +45,7 @@ params:
    lr_schedule: adaptive
    kl_threshold: 0.013
    score_to_win: 20000
-    max_epochs: 5000
+    max_epochs: 500000
    save_best_after: 50
    save_frequency: 100
    grad_norm: 1.0