Comments (4)
Have you looked at cheetah_state_estimator under go1_gym_deploy/utils? This is what will actually run on the go1 robot.
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Yes, I have looked at this file, but I do not see where linear velocity is updated. Moreover, I do not see any NN for training an estimator or the use of a pre-trained model. As far as I understand from the papers I read, there needs to be a 2 layered MLP for state estimation. Am I missing something?
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I have the same confusion here, it seems that you use this function to get linear velocity,
def get_body_linear_vel(self):
self.body_lin_vel = np.dot(self.R.T, self.world_lin_vel)
return self.body_lin_vel
but how can I get the world_lin_vel?
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Hi @mertgungor @Qianzhong-Chen ,
The default policy I released differs from the paper here. To estimate the velocity, you'll need to train a new policy with the following flag turned on in train.py
:
Cfg.env.priv_observe_body_velocity = True
Setting this flag to True
during training will make the new adaptation module predict the velocity from the state history. First, the privileged observation is constructed here where you can see the priv_observe_body_velocity
flag will be considered to include/exclude the body velocity. Then, the gradient step for the adaptation module is defined here. This step trains the adaptation module to predict the privileged observation using supervised learning. Finally, you can see here how the latent is predicted by the adaptation module and concatenated to the policy observation in each forward pass.
-Gabe
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Related Issues (20)
- How to deploy this code on custom model? HOT 1
- How to create data to retrain the actuator net? HOT 1
- Is Kp = 20 too soft? HOT 11
- decimation of 4 seems to create some instability have you been successful with lower values like 2? HOT 9
- Can't find docker image after sudo ../installer/install_deployment_code.sh HOT 1
- When deployed, Go1 still moves despite neutral commands are given HOT 1
- When recording data using L2 button, generated data does not contain "tau_est" HOT 4
- Code not running on Untree A1 robot HOT 9
- I have confusion about foot clearance. HOT 3
- open /var/lib/docker/tmp/docker-import-221834566/repositories: no such file or directory HOT 2
- ./lcm_position: error while loading shared libraries: liblcm.so.1: cannot open shared object file: No such file or directory HOT 4
- ValueError invalid values HOT 1
- When we change some terrain in this situation why robots are start at sky? HOT 2
- LCM for GO1 camera HOT 1
- keeping it from shutting down when it falls over to allow a get up behavior to work HOT 3
- A1 HOT 1
- training with headless HOT 1
- spend too long time deploying the model on GO1
- spend too long time deploying the model on GO1 HOT 1
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