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Improbable-AI / walk-these-ways

Sim-to-real RL training and deployment tools for the Unitree Go1 robot.
https://gmargo11.github.io/walk-these-ways/
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About actuator net data collection rate #12

Closed yangyichu closed 1 year ago

yangyichu commented 1 year ago

In the training script it seems the joint data were collected at 50Hz, while compute_torque() in isaac_sim actually calculates torque at 200Hz (dt=0.005, though the target stays same for 4 iteration but joint state error is changing). Will this collect frequency influence the performance of actuator net?

gmargo11 commented 1 year ago

Hi @yangyichu ,

Yes, thanks for the careful inspection; your interpretation is correct! The actuator network was trained at 50Hz, but during forward sim it's being evaluated at 200Hz. Since the network takes a short history of error values, this might impact performance, I'm not sure how much. I'm going to implement a fix, if the policy trains and deploys well I'll update the code.