v2.2.2 - Phase 1: Walk or Die
Phase 1: Real Walking
Phase 0 (standing) is validated. Now the robot must walk or die.
Key Changes
| Parameter | Before | After | Effect |
|---|---|---|---|
tracking_lin_vel |
1.0 | 3.0 | Velocity = priority #1 |
alive |
10.0 | 2.0 | Survival alone not rewarded |
feet_air_time |
0.5 | 2.0 | Must lift feet |
action_rate |
-0.05 | -0.2 | Vibration banned (x4) |
quiet_wrists |
-0.1 | -1.0 | Arm flailing banned (x10) |
lin_vel_x_range |
[0, 0.15] | [0.25, 0.6] | Standing still forbidden |
termination_height |
0.30 | 0.60 | No collapsing allowed |
Training Expectations
- Iterations 0-200: Frequent falls (learning new strategy)
- Iterations 200+: Discovery that moving legs forward = reward
Command
rm -rf walk/checkpoints && python walk/g1_train.py -B 4096 --max_iter 2000Full Changelog: v2.2.0...v2.2.2