Apollo3D/Gym_CPU
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train Walk and tackle the memory leak issue.

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xxh
2026-04-08 05:59:16 -04:00
parent 28e7eb0692
commit 87e5c6d931
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command.md
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训练（默认）
bash train.sh
测试（实时+显示画面)
GYM_CPU_MODE=test GYM_CPU_TEST_MODEL=scripts/gyms/logs/Walk_R0_005/best_model.zip GYM_CPU_TEST_FOLDER=scripts/gyms/logs/Walk_R0_005/ GYM_CPU_TEST_NO_RENDER=0 GYM_CPU_TEST_NO_REALTIME=0 bash train.sh
测试（无画面、非实时）
GYM_CPU_MODE=test GYM_CPU_TEST_NO_RENDER=1 GYM_CPU_TEST_NO_REALTIME=1 bash train.sh
retrain（继续训练）
GYM_CPU_MODE=train GYM_CPU_TRAIN_MODEL=scripts/gyms/logs/Walk_R0_005/best_model.zip bash train.sh
retrain+改训练超参
GYM_CPU_MODE=train GYM_CPU_TRAIN_MODEL=scripts/gyms/logs/Walk_R0_004/best_model.zip GYM_CPU_TRAIN_LR=2e-4 GYM_CPU_TRAIN_CLIP_RANGE=0.13 GYM_CPU_TRAIN_BATCH_SIZE=256 YM_CPU_TRAIN_GAMMA=0.95 GYM_CPU_TRAIN_ENT_COEF=0.05 GYM_CPU_TRAIN_EPOCHS=8 bash train.sh