XBot sim2sim can't walk about humanoid-gym

[zlw21gxy]

We have conducted multiple tests and the issue did not occur. Could you furnish more particulars? Kindly attempt our default policy initially. We offer one trained policy as a baseline. In the event of any system setup disparities, ensure that the baseline policy functions properly. Subsequently, verify whether you continue to encounter the identical problem.

[1725917163]

Hi, the default strategy works fine, but the model after training still doesn't work properly (simtosim.py), I didn't modify any code before training started. I look forward to your reply.

123.mp4

[zlw21gxy]

Do you just pull the project without making any modifications? How many iterations have you gone through in training? Please offer some training logs, like the last few training iterations. That would be helpful.

[1725917163]

You are right, I found that iterating a few more times solved the problem. Thank you very much for your reply

[zlw21gxy]

I will close it as it has been solved. One comment is that more training steps do not guarantee a better sim2real result. After the reward function converges, training for a few hundred more steps is a common practice, and training for at least 1,000 steps is a good starting point.