Locomotion Heading Drift

[zhan345]

The walking policy seems to drift from the heading command. From my understanding, heading should make the robot be able to reach a desired body yaw and then stop turning, but my robot just continues turning. Is there a way to finetune the policy to better correspond to these high level commands, or what is the practical recommendation here to fix things?

[hang0610]

Add tapping shifting penalty, or try Symmetry considerations for learning task symmetric robot policies.

[nepenthes123]

The walking policy seems to drift from the heading command. From my understanding, heading should make the robot be able to reach a desired body yaw and then stop turning, but my robot just continues turning. Is there a way to finetune the policy to better correspond to these high level commands, or what is the practical recommendation here to fix things?

Hello, have you also encountered the issue where the strategy trained based on the code provided by the project moves the robot even when the initial angular velocity and linear velocity are set to 0 when simulating in Mujoco?