Initial commit

2026-11-02 17:10:39 +08:00
commit 102fdbaf47
79 changed files with 56509 additions and 0 deletions
@@ -0,0 +1,25 @@
+#!/usr/bin/env bash
+# S10 terrain-v7 safe all-terrain 50k training from the task preset.
+# Set S10_RESUME to continue from a checkpoint; S10_VIDEO=0 disables video.
+set -euo pipefail
+
+PROJECT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
+cd "$PROJECT_DIR"
+
+export PYTHONPATH="$PROJECT_DIR"
+export OMP_NUM_THREADS="${OMP_NUM_THREADS:-1}"
+export MUJOCO_GL="${MUJOCO_GL:-egl}"
+
+PY="${S10_PYTHON:-python}"
+OUT="${S10_OUTPUT:-logs/s10_terrain_v7_50k_$(date +%Y%m%d_%H%M%S)}"
+mkdir -p "$OUT"
+
+args=(--task s10-v7 --iterations 50000 --output "$OUT")
+if [[ -n "${S10_RESUME:-}" ]]; then
+  args+=(--resume "$S10_RESUME")
+fi
+if [[ "${S10_VIDEO:-1}" != "0" ]]; then
+  args+=(--video --video-length 500 --video-interval 2700)
+fi
+
+exec "$PY" scripts/train.py "${args[@]}" "$@"