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rohanpsingh / LearningHumanoidWalking

Training a humanoid robot for locomotion using Reinforcement Learning
BSD 2-Clause "Simplified" License
213 stars 38 forks source link

Many thanks to the author for his contribution to humanoid robots #16

Closed zhangqingbo6 closed 2 months ago

zhangqingbo6 commented 8 months ago

I have a problem. When I reproduce your code, the humanoid robot only moves up and down the stairs on one plane and does not go up or down the stairs. lv_0_20231116171722

rohanpsingh commented 8 months ago

Hi, can you retry after downgrading mujoco version to 2.3.0? $ pip install mujoco==2.3.0

zhangqingbo6 commented 8 months ago
  1. My humanoid robot still falls down when going up stairs after training. The experiment of going down stairs still moves on the current plane. lv_0_20231116204119 lv_0_20231116204511
  2. Why is it a different task every time "PYTHONPATH=.:$PYTHONPATH python scripts/debug_stepper.py --path " is executed? How to choose the specified task? Thanks!
Wenhaocui commented 7 months ago

  1. My humanoid robot still falls down when going up stairs after training. The experiment of going down stairs still moves on the current plane. lv_0_20231116204119

       [

       ![lv_0_20231116204119](https://user-images.githubusercontent.com/56789308/283453785-9db19d08-3e66-4c11-89c7-bfbc444234a7.gif)
     ](https://user-images.githubusercontent.com/56789308/283453785-9db19d08-3e66-4c11-89c7-bfbc444234a7.gif)

     [

     ](https://user-images.githubusercontent.com/56789308/283453785-9db19d08-3e66-4c11-89c7-bfbc444234a7.gif)

    lv_0_20231116204511

       [

       ![lv_0_20231116204511](https://user-images.githubusercontent.com/56789308/283453799-83914984-2205-4f9d-85f2-59e2dad36c59.gif)
     ](https://user-images.githubusercontent.com/56789308/283453799-83914984-2205-4f9d-85f2-59e2dad36c59.gif)

     [

     ](https://user-images.githubusercontent.com/56789308/283453799-83914984-2205-4f9d-85f2-59e2dad36c59.gif)
  2. Why is it a different task every time "PYTHONPATH=.:$PYTHONPATH python scripts/debug_stepper.py --path " is executed? How to choose the specified task? Thanks!
  3. add pos="0 0 -100" in floor geom in models/jvrc_mj_description/xml/scene.xml file. In my test, self._client.model.geom('floor').pos[:] can only be higher than default set in z axis (Don't know the reason).
  4. In tasks/stepping_task.py, set self.mode = WalkModes.BACKWARD(or anyone else) in reset func
rohanpsingh commented 7 months ago

Sorry for the delay. Indeed, solution proposed by @Wenhaocui should work for climbing down the stairs. Another solution is here.

My humanoid robot still falls down when going up stairs after training.

Are you training from scratch? Can you first please confirm that the pre-trained weights provided in this repository work fine?

bottlele commented 6 months ago

Hello, when executing the command python scripts/debug_stepper.py --path trained/jvrc_stepper/actor.pt, climbing stairs works normally, but when descending stairs, there's a fall at the last step. What could be the reason for this?

rohanpsingh commented 2 months ago

Hello, when executing the command python scripts/debug_stepper.py --path trained/jvrc_stepper/actor.pt, climbing stairs works normally, but when descending stairs, there's a fall at the last step. What could be the reason for this?

Fixed in 7f28e0327293f9fbc87587c21d00b24c9ff7efbc.