Question on the friction setting for randomization

erwincoumans / motion_imitation

Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"

Apache License 2.0

1.13k stars 284 forks source link

Question on the friction setting for randomization #62

Closed pengzhi1998 closed 2 years ago

pengzhi1998 commented 3 years ago

Hi, thank you for your great work!

However, I have a question about a setting for randomization. In the paper, you mentioned the training range for the lateral friction is [0.05, 1.25] which is a relatively big range. However, in the code it seems to be [0.5, 1.25].

Which one did you choose in the paper's experiments during training and what's the reason? Is that because friction is a very crucial impact factor?

Thank you!

erwincoumans commented 2 years ago

I think we used [0.5,1.25] for the paper, it maybe a typo.