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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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Enhance Env Randomization, Optimize Performance #3

Closed zlw21gxy closed 6 months ago

zlw21gxy commented 6 months ago

  1. Updated Environment Randomization

    • Removed unused code; introduced dynamic randomization for robustness.

  2. Refined Gait and Rewards

    • Improved training settings and reward design for faster convergence and more natural gaits.

  3. Update Configs

    • Recommended 4096 environments in README for broader GPU compatibility.
    • Enhance sim2sim accuracy and fix abnormal contact behavior