Updates BDX-R environment for rough terrain training #7
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louislelay
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Oct 22, 2025
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Hey @KaydenKnapik, great work! Just reviewed a few things, take a look at it and please provide me with your latest checkpoint and a tensorboard log file.
| class PPORunnerCfg(RslRlOnPolicyRunnerCfg): | ||
| num_steps_per_env = 24 | ||
| max_iterations = 30_000 | ||
| max_iterations = 100000 |
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Is 100k really needed? Could you provide a tensorboard log file of your latest training with the current env.
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| #COBBLESTONE_ROAD_CFG = terrain_gen.TerrainGeneratorCfg( | ||
| # size=(8.0, 8.0), | ||
| # border_width=20.0, | ||
| # num_rows=9, | ||
| # num_cols=21, | ||
| # horizontal_scale=0.1, | ||
| # vertical_scale=0.002, # This is already quite low, which is good for an easier terrain | ||
| # slope_threshold=0.75, | ||
| # difficulty_range=(0.0, 1.0), | ||
| # use_cache=False, | ||
| # sub_terrains={ | ||
| # # Increase the proportion of flat ground | ||
| # "flat": terrain_gen.MeshPlaneTerrainCfg(proportion=0.8), | ||
| # # Decrease the proportion of rough ground | ||
| # "random_rough": terrain_gen.HfRandomUniformTerrainCfg( | ||
| # proportion=0.2, | ||
| # noise_range=(0.02, 0.05), | ||
| # noise_step=0.02, | ||
| # border_width=0.25 | ||
| # ), | ||
| # }, | ||
| #) | ||
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do you want to cleanup comments in this PR or should we do a new one cleaning up the code/comments and adding some format testing
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| # TODO: Are all critics necessary (i don't think so) | ||
| # TODO: In critic we should remove all noise | ||
| # TODO: Add some scales to avoid sim instabilities |
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As it works, we can leave it as it is for now but I really think all that is non necessary and lots of critic obs should be removed/unnoised. You don't need that much imo.
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Work of @KaydenKnapik. Updates current BDX-R environment for rough terrain training, it also adds custom rewards functions.