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新增强化学习策略控制功能到MuJoCo可视化工具#3308

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donghaiwang merged 56 commits into
OpenHUTB:mainfrom
Vortex444:mujoco
Dec 16, 2025
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新增强化学习策略控制功能到MuJoCo可视化工具#3308
donghaiwang merged 56 commits into
OpenHUTB:mainfrom
Vortex444:mujoco

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@Vortex444

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修改概述:

控制逻辑优先级 新增机器学习策略控制

修改的详细描述

  1. 入 PyTorch 依赖,定义简单的策略网络PolicyNetwork,支持加载预训练模型(.pth 文件),实现基于观测(关节位置 + 速度)自动生成控制指令。
  2. 视化时控制指令来源优先级为:ROS 订阅指令 > 策略网络输出 > 无控制,确保灵活性。

经过了什么样的测试?

  1. ubuntu
  2. Python3.8

运行效果

动图、视频、截图等
Uploading ScreenShot_2025-12-16_092845_387.png…

@donghaiwang
donghaiwang merged commit 4283cd5 into OpenHUTB:main Dec 16, 2025
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2 participants