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Published 20 hours ago • verified publisher icon leggedrobotics

How to train the actuator network?

Open Kashu7100 opened this issue 2 years ago • 4 comments

Thank you for the great work.

I am wondering how can I train the actuator network for my unitree robot. Do you have any repo/code that you used to obtain the actuator network for anymal C (which is in resources)?

Thank you.

Kashu7100 avatar Oct 26 '22 11:10 Kashu7100

Maybe this one? https://github.com/junja94/anymal_science_robotics_supplementary

Kashu7100 avatar Oct 29 '22 21:10 Kashu7100

I also would like to know this. How did you (@nikitardn) train the actuator network? I could check the theory behind the training in the paper from Hwangbo et al. that MLP is used to train the network.

-The usual format of the MLP (trained with Keras) is saved_model.pb, whereas the provided file has the format of anydrive_v3_lstm.pt. Did you run the training with Isaac Gym also?

xman236 avatar Jan 24 '23 10:01 xman236

Hi guys, did you find something about it?

VorteXmath avatar Jan 28 '24 18:01 VorteXmath

Hi, I have met the same problem. Does anyone have any idea with how the actuator trained?

JamesSand avatar Jan 30 '24 19:01 JamesSand