From a642274fa6046d7c27639d85c5d9659addbcdd7b Mon Sep 17 00:00:00 2001 From: ChenXi Date: Sun, 22 Mar 2026 03:05:24 -0400 Subject: [PATCH] Amend symbol to save video memory --- rl_game/get_up/config/ppo_cfg.yaml | 4 ++-- rl_game/get_up/config/t1_env_cfg.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/rl_game/get_up/config/ppo_cfg.yaml b/rl_game/get_up/config/ppo_cfg.yaml index fedad83..1d047de 100644 --- a/rl_game/get_up/config/ppo_cfg.yaml +++ b/rl_game/get_up/config/ppo_cfg.yaml @@ -53,8 +53,8 @@ params: truncate_grads: True bounds_loss_coef: 0.001 e_clip: 0.2 - horizon_length: 65536 - minibatch_size: 8192 + horizon_length: 256 + minibatch_size: 65536 mini_epochs: 4 critic_coef: 1 clip_value: True \ No newline at end of file diff --git a/rl_game/get_up/config/t1_env_cfg.py b/rl_game/get_up/config/t1_env_cfg.py index f897f1c..c8ff606 100644 --- a/rl_game/get_up/config/t1_env_cfg.py +++ b/rl_game/get_up/config/t1_env_cfg.py @@ -147,7 +147,7 @@ def is_standing_still( T1_JOINT_NAMES = [ - 'Head_yaw', 'Head_pitch', + 'AAHead_yaw', 'Head_pitch', 'Left_Shoulder_Pitch', 'Left_Shoulder_Roll', 'Left_Elbow_Pitch', 'Left_Elbow_Yaw', 'Right_Shoulder_Pitch', 'Right_Shoulder_Roll', 'Right_Elbow_Pitch', 'Right_Elbow_Yaw',