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Update barkour notebook.

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PiperOrigin-RevId: 610906071
Change-Id: Ie67b86888e195bbd8a8e879547e65fbc2c864534
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Baruch Tabanpour
2024-02-27 16:08:22 -08:00
committed by Copybara-Service
parent 2067e2083a
commit 2e43f18bee
3 changed files with 4 additions and 14 deletions
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mjx/tutorial.ipynb
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@@ -606,7 +606,7 @@
"source": [
"## Train Humanoid Policy\n",
"\n",
"Let's now train a policy with PPO to make the Humanoid run forwards. Training takes about 8-9 minutes on a Tesla A100 GPU."
"Let's now train a policy with PPO to make the Humanoid run forwards. Training takes about 6 minutes on a Tesla A100 GPU."
]
},
{
@@ -1312,7 +1312,7 @@
"source": [
"## Train Policy\n",
"\n",
"To train a policy with domain randomization, we pass in the domain randomization function into the brax train function; brax will call the domain randomization function when rolling out episodes. Training the quadruped takes 8-9 minutes on a Tesla A100 GPU."
"To train a policy with domain randomization, we pass in the domain randomization function into the brax train function; brax will call the domain randomization function when rolling out episodes. Training the quadruped takes 6 minutes on a Tesla A100 GPU."
]
},
{
@@ -1448,7 +1448,7 @@
},
"outputs": [],
"source": [
"HTML(html.render(eval_env.sys, rollout))"
"HTML(html.render(eval_env.sys.replace(dt=eval_env.dt), rollout))"
]
}
],