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07027e8fde
Current code snapshot: smooth/bridge task configs, smooth random terrain, roll/pitch stability rewards, M20 URDF updates, eval profile and stability training documentation.
24 lines
564 B
Bash
Executable File
24 lines
564 B
Bash
Executable File
#!/usr/bin/env bash
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set -euo pipefail
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TASK=${TASK:-Rough-Deeprobotics-M20-v0}
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CHECKPOINT=${1:-${CHECKPOINT:-}}
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NUM_ENVS=${NUM_ENVS:-250}
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DEVICE=${DEVICE:-cuda:0}
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EVAL_TYPE=${EVAL_TYPE:-all}
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if [[ -z "${CHECKPOINT}" ]]; then
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echo "Usage: $0 <checkpoint.pt>"
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echo "Or set CHECKPOINT=/path/to/model.pt"
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exit 1
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fi
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echo "Running eval_type=${EVAL_TYPE}"
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python scripts/reinforcement_learning/rsl_rl/eval.py \
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--task="${TASK}" \
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--checkpoint="${CHECKPOINT}" \
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--num_envs="${NUM_ENVS}" \
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--device="${DEVICE}" \
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--eval_type="${EVAL_TYPE}" \
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--headless
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