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roboterax / humanoid-gym

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
https://sites.google.com/view/humanoid-gym/
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Control a little 10-dof robot #20

Open lightbrighten opened 4 months ago

lightbrighten commented 4 months ago

Dear Author Appreciating for your good job!Does this can be used to trainning a method to control a small 10-dof robot,which is 0.45m tall and 10 kgs weight and with "rotate-ankle" joint missing? I have tried this, and the "train" and "play" is stable, but "sim2sim" is unstable, which params I need to adjust in "humanoid_cfg.py"?

zzzzzzxm commented 4 months ago

Hi, I meet same problem. During sim2sim period, the policy trained and performed well can't perform as in play period. I trained a policy to control a robot with more joint, I think maybe I miss somethings to change in mjcf file. Have you solved the problem?

lightbrighten commented 4 months ago

still confused yet, not solved

zzzzzzxm commented 3 months ago

Adjust the order of joints should be helpful. I have solved the problem.

lightbrighten commented 3 months ago

Adjust the order of joints should be helpful. I have solved the problem.

Great! How to print the order of joints in humanoid-gym?

lightbrighten commented 3 months ago

Adjust the order of joints should be helpful. I have solved the problem.

And How many Dofs in your robot,especially legs?

wangyenjen commented 3 months ago

Hi @lightbrighten ,

You can print the following line to check the joint order: https://github.com/roboterax/humanoid-gym/blob/4a9c3abe39f9ac2dba842ddaad61fbb3bfd96c31/humanoid/envs/base/legged_robot.py#L624