feat(training): release V0.8 自调参 Agent

training_server/rl/src/tasks/velocity/config/go2/env_cfgs.py

@@ -106,6 +106,7 @@ def unitree_go2_rough_env_cfg(
   cfg.rewards["body_ang_vel"].params["asset_cfg"].body_names = ("base_link",)
   cfg.rewards["foot_clearance"].params["asset_cfg"].site_names = site_names
   cfg.rewards["foot_slip"].params["asset_cfg"].site_names = site_names
+  cfg.metrics["slip_velocity"].params["asset_cfg"].site_names = site_names
 
   cfg.terminations["illegal_contact"] = TerminationTermCfg(
     func=mdp.illegal_contact,

training_server/rl/src/tasks/velocity/mdp/__init__.py

@@ -1,6 +1,7 @@
 from mjlab.envs.mdp import *  # noqa: F401, F403
 
 from .curriculums import *  # noqa: F403
+from .metrics import *  # noqa: F403
 from .observations import *  # noqa: F403
 from .rewards import *  # noqa: F403
 from .terminations import *  # noqa: F403

training_server/rl/src/tasks/velocity/mdp/metrics.py

@@ -0,0 +1,88 @@
+"""Reward-weight-independent quality metrics for velocity tasks."""
+
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+
+import torch
+
+from mjlab.entity import Entity
+from mjlab.managers.scene_entity_config import SceneEntityCfg
+from mjlab.sensor import ContactSensor
+
+if TYPE_CHECKING:
+  from mjlab.envs import ManagerBasedRlEnv
+
+_DEFAULT_ASSET_CFG = SceneEntityCfg("robot")
+
+
+def linear_velocity_rmse(
+  env: ManagerBasedRlEnv,
+  command_name: str,
+  asset_cfg: SceneEntityCfg = _DEFAULT_ASSET_CFG,
+) -> torch.Tensor:
+  """Per-step commanded-vs-actual base linear velocity RMSE in body frame."""
+  asset: Entity = env.scene[asset_cfg.name]
+  command = env.command_manager.get_command(command_name)
+  assert command is not None
+  actual = asset.data.root_link_lin_vel_b
+  error = torch.cat((command[:, :2] - actual[:, :2], -actual[:, 2:3]), dim=1)
+  return torch.sqrt(torch.mean(torch.square(error), dim=1))
+
+
+def angular_velocity_rmse(
+  env: ManagerBasedRlEnv,
+  command_name: str,
+  asset_cfg: SceneEntityCfg = _DEFAULT_ASSET_CFG,
+) -> torch.Tensor:
+  """Per-step commanded-vs-actual base angular velocity RMSE in body frame."""
+  asset: Entity = env.scene[asset_cfg.name]
+  command = env.command_manager.get_command(command_name)
+  assert command is not None
+  actual = asset.data.root_link_ang_vel_b
+  desired = torch.zeros_like(actual)
+  desired[:, 2] = command[:, 2]
+  return torch.sqrt(torch.mean(torch.square(desired - actual), dim=1))
+
+
+def orientation_error(
+  env: ManagerBasedRlEnv,
+  asset_cfg: SceneEntityCfg = _DEFAULT_ASSET_CFG,
+) -> torch.Tensor:
+  """Magnitude of projected gravity in the base x/y plane; zero is upright."""
+  asset: Entity = env.scene[asset_cfg.name]
+  return torch.linalg.vector_norm(asset.data.projected_gravity_b[:, :2], dim=1)
+
+
+def fall_indicator(env: ManagerBasedRlEnv) -> torch.Tensor:
+  """One on non-timeout terminal steps, otherwise zero."""
+  return env.termination_manager.terminated.float()
+
+
+def slip_velocity(
+  env: ManagerBasedRlEnv,
+  sensor_name: str,
+  asset_cfg: SceneEntityCfg = _DEFAULT_ASSET_CFG,
+) -> torch.Tensor:
+  """Mean x/y velocity of feet currently touching the ground."""
+  asset: Entity = env.scene[asset_cfg.name]
+  sensor: ContactSensor = env.scene[sensor_name]
+  assert sensor.data.found is not None
+  contact = (sensor.data.found > 0).float()
+  speed = torch.linalg.vector_norm(
+    asset.data.site_lin_vel_w[:, asset_cfg.site_ids, :2], dim=-1
+  )
+  count = torch.clamp(torch.sum(contact, dim=1), min=1.0)
+  return torch.sum(speed * contact, dim=1) / count
+
+
+def mechanical_power(
+  env: ManagerBasedRlEnv,
+  asset_cfg: SceneEntityCfg = _DEFAULT_ASSET_CFG,
+) -> torch.Tensor:
+  """Positive actuator mechanical power in watts (regeneration is ignored)."""
+  asset: Entity = env.scene[asset_cfg.name]
+  torque = asset.data.actuator_force[:, asset_cfg.actuator_ids]
+  velocity = asset.data.joint_vel[:, asset_cfg.joint_ids]
+  count = min(torque.shape[1], velocity.shape[1])
+  return torch.sum(torch.clamp(torque[:, :count] * velocity[:, :count], min=0.0), dim=1)

training_server/rl/src/tasks/velocity/velocity_env_cfg.py

@@ -140,8 +140,27 @@ def make_velocity_env_cfg() -> ManagerBasedRlEnvCfg:
   ##
 
   metrics = {
-    "mean_action_acc": MetricsTermCfg(
-      func=mdp.mean_action_acc,
+    "linear_velocity_rmse": MetricsTermCfg(
+      func=mdp.linear_velocity_rmse,
+      params={"command_name": "twist"},
+    ),
+    "angular_velocity_rmse": MetricsTermCfg(
+      func=mdp.angular_velocity_rmse,
+      params={"command_name": "twist"},
+    ),
+    "mean_action_acc": MetricsTermCfg(func=mdp.mean_action_acc),
+    "orientation_error": MetricsTermCfg(func=mdp.orientation_error),
+    "fall_indicator": MetricsTermCfg(func=mdp.fall_indicator),
+    "slip_velocity": MetricsTermCfg(
+      func=mdp.slip_velocity,
+      params={
+        "sensor_name": "feet_ground_contact",
+        "asset_cfg": SceneEntityCfg("robot", site_names=()),  # Set per-robot.
+      },
+    ),
+    "mechanical_power": MetricsTermCfg(
+      func=mdp.mechanical_power,
+      params={"asset_cfg": SceneEntityCfg("robot", joint_names=(".*",))},
     ),
   }
 
@@ -298,6 +317,11 @@ def make_velocity_env_cfg() -> ManagerBasedRlEnvCfg:
       params={"sensor_name": "robot/root_angmom"},
     ),
     "is_terminated": RewardTermCfg(func=mdp.is_terminated, weight=-200.0),
+    "electrical_power": RewardTermCfg(
+      func=mdp.electrical_power_cost,
+      weight=0.0,
+      params={"asset_cfg": SceneEntityCfg("robot", joint_names=(".*",))},
+    ),
     "joint_acc_l2": RewardTermCfg(func=mdp.joint_acc_l2, weight=-2.5e-7),
     "joint_pos_limits": RewardTermCfg(func=mdp.joint_pos_limits, weight=-10.0),
     "action_rate_l2": RewardTermCfg(func=mdp.action_rate_l2, weight=-0.05),