bug in climbing and descending stairs

[bottlele]

Hello, in this project, using pre-trained weights works fine for climbing stairs, but when descending stairs, the model tends to step on the edge at the second-to-last step, leading to a fall. How can this issue be resolved? Thank you for your reply.

https://github.com/rohanpsingh/LearningHumanoidWalking/assets/151833074/9ea62c7a-ae6b-4fde-b9a5-6ba7d5868151

https://github.com/rohanpsingh/LearningHumanoidWalking/assets/151833074/b99c8e0f-82ec-455c-a1d4-b49dfa320021

[yinkangning0124]

Hi, have you face the problem that the robot can not climb a single step, just stepping inplace?

[yinkangning0124]

https://github.com/rohanpsingh/LearningHumanoidWalking/assets/45726315/0d39e9b9-94e1-4f6b-9dc3-3bd7a2f87956

[bottlele]

My previous issue was about passing directly through the stairs instead of walking on them.

[yinkangning0124]

My previous issue was about passing directly through the stairs instead of walking on them.

This issue I encountered before, may be you can check your mujoco version, the version should be 2.2.x

[yinkangning0124]

Maybe we can communicate more deeply about this project. Feel free to contact me through [email protected]

[bottlele]

I see you are in Shanghai, are you Chinese?

[yinkangning0124]

I see you are in Shanghai, are you Chinese?

yeah, a master student at shanghaitech university

[bottlele]

I am currently in Changning District, Shanghai too

[WangXingfang]

My previous issue was about passing directly through the stairs instead of walking on them.

This issue I encountered before, may be you can check your mujoco version, the version should be 2.2.x

请问您程序里mujoco和dm-control的具体版本是多少呢？我这边运行的话，楼梯显示不出来

[WangXingfang]

Hello, in this project, using pre-trained weights works fine for climbing stairs, but when descending stairs, the model tends to step on the edge at the second-to-last step, leading to a fall. How can this issue be resolved? Thank you for your reply.

请问您程序里mujoco和dm-control的具体版本是多少呢？我这边运行的话，楼梯显示不出来，更换mujoco和dm-control的版本后有时候能显示出楼梯来，之后运行又显示不出来了

[skr3178]

@bottlele what command do you use to run up the stair using pretrained weights? also the command for running down the stairs shows different scenarios- walking sideways etc- on running it each time show different scene

PYTHONPATH=.:$PYTHONPATH python scripts/debug_stepper.py --path /xxxxx/LearningHumanoidWalking/trained/jvrc_stepper/critic.pt

Traceback (most recent call last): File "scripts/debug_stepper.py", line 159, in main() File "scripts/debug_stepper.py", line 155, in main run(env, policy, args) File "scripts/debug_stepper.py", line 92, in run action = policy.forward(torch.Tensor(observation), deterministic=True).detach().numpy() TypeError: forward() got an unexpected keyword argument 'deterministic'