v2.3.0 - Phase 2: Style & Posture
Phase 2: Style & Posture Correction
Walking validated. Now fixing the Matrix lean and cowboy stance.
Key Changes
Asymmetric Pitch Penalty (g1_env.py)
# Backward lean (pitch < 0) punished 2x harder than forward
penalty = torch.where(pitch < 0, 2.0 * torch.square(pitch), torch.square(pitch))Reward Scales (g1_train.py)
| Parameter | Before | After | Effect |
|---|---|---|---|
track_pitch |
1.0 | 3.0 | Upright torso |
feet_spacing |
1.0 | 3.0 | Narrow stance |
orientation |
-1.0 | -2.0 | Stricter balance |
arm_close_to_body |
- | 1.0 | Arms along body |
arm_swing |
- | 0.5 | Natural swing |
action_rate |
-0.2 | -0.15 | Slightly relaxed |
quiet_wrists |
-1.0 | -0.5 | Less punitive |
Fine-tune Command
python walk/g1_train.py -B 4096 --max_iter 500 --resume walk/checkpoints/model_700.ptFull Changelog: v2.2.2...v2.3.0