OpenQuadruped / spot_mini_mini

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.
https://moribots.github.io/project/spot-mini-mini
MIT License
800 stars 171 forks source link

Reward difference paper #26

Open watermeleon opened 2 years ago

watermeleon commented 2 years ago

Hi @moribots, I am recreating this project and building upon it for a project for my uni, yet there is an important incongruity I can't figure out. When I run the code straight away I get an reward per step of 5.4 at the first training steps. However, in figure 6 of your paper(see attached figure) the reward is supposed to start at -2.0 and never surpass 0.5 . Could you tell me where this difference in reward is coming from? Thanks in advance! Leon

bezierpaper_rewards