Initial commit

2026-11-02 17:10:39 +08:00
commit 102fdbaf47
79 changed files with 56509 additions and 0 deletions
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+"""S10 terrain revision 4: legacy 53-value Actor frame with measured wheel speed."""
+
+from .base import ActorSpec, TaskSpec, register
+
+ACTOR = ActorSpec(
+  name="s10-v4-53",
+  terms=(3, 3, 12, 12, 4, 16, 3),
+  frame_terms=(
+    {"name": "base_ang_vel", "dim": 3, "scale": 1.0},
+    {"name": "projected_gravity", "dim": 3, "scale": 1.0},
+    {"name": "joint_pos_rel", "dim": 12, "scale": 1.0},
+    {"name": "joint_vel_rel", "dim": 12, "scale": 0.05},
+    {"name": "wheel_vel_rel", "dim": 4, "scale": 0.05},
+    {"name": "last_action", "dim": 16, "scale": 1.0},
+    {"name": "command", "dim": 3, "scale": 1.0},
+  ),
+  wheel_vel=True,
+)
+
+
+def env_cfg(play: bool, history: int, seed: int):
+  from s10_supermimic.env.terrain import s10_velocity_terrain_env_cfg
+  return s10_velocity_terrain_env_cfg(
+    play=play, history=history, seed=seed, revision=4,
+    actor_wheel_vel=ACTOR.wheel_vel)
+
+
+TASK = register(TaskSpec(
+  name="s10-v4",
+  description="S10 terrain v4 legacy task: 53-value Actor frame, wheel speed, 20k validated recipe",
+  terrain_revision=4,
+  actor=ACTOR,
+  env_cfg=env_cfg,
+  defaults={
+    "terrain": True,
+    "terrain_revision": 4,
+    "num_envs": 4096,
+    "iterations": 20000,
+    "num_steps_per_env": 1,
+    "buffer_len": 512,
+    "wm_window": 8,
+    "wm_batch": 2048,
+    "wm_updates": 4,
+    "imag_batch": 2048,
+    "horizon": 32,
+    "warmup": 50,
+    "critic_epochs": 5,
+    "critic_minibatches": 4,
+    "save_interval": 500,
+    "log_interval": 10,
+    "command_curriculum": True,
+    "command_curriculum_start": 0,
+    "prioritized_replay": True,
+    "archive_size": 100000,
+    "actor_ramp_iterations": 1000,
+    "actor_hold_iterations": 0,
+    "lr_decay_iterations": 30000,
+    "lr_final_frac": 0.03,
+    "history": 5,
+    "wm_hidden": [512, 512, 512],
+    "actor_hidden": [256, 128, 64],
+    "critic_hidden": [256, 128, 64],
+    "compile_imagination": False,
+  },
+))