unilab.tasks.locomotion.g1.manager_terms.G1PenaltyCurriculum

class unilab.tasks.locomotion.g1.manager_terms.G1PenaltyCurriculum[source]

Bases: ManagerTermBase

Scale negative-weight reward terms by average episode length.

Ports the legacy G1 penalty curriculum: penalty weights start at initial_scale of their configured value and relax toward max_scale as the tracked average episode length crosses the configured thresholds.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_G1Env)

Methods

__init__(cfg, env)

reset(env_ids)

Resets the manager term.

Attributes

name

num_envs

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (_G1Env)

__call__(env, env_ids, **params)[source]

Returns the value of the term required by the manager.

Parameters:
Return type:

dict[str, float]

property name: str
property num_envs: int
reset(env_ids)

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

Any