LAV2_navrl

rsl-rl config for LAV2 NavRL with sensor-fusion policy.

Mirrors lav2/runner/skrl/cfg/LAV2_navrl.py but adapted to rsl-rl v5 native dict format. Uses :class:~lav2.runner.rsl_rl.models.navrl.SensorFusionMLPModel as the actor model class.

Usage (Isaac Lab Hydra entry point)::

"rsl_rl_cfg_entry_point": "lav2.runner.rsl_rl.cfg.LAV2_navrl:LAV2NavRLPPORunnerCfg"

Usage (direct script)::

from lav2.runner.rsl_rl.cfg.LAV2_navrl import get_runner_cfg
cfg = get_runner_cfg(experiment_name="my_run")
runner = OnPolicyRunner(env, cfg, log_dir, device=device)

类：

名称	描述
BetaDistributionCfg	Configuration for the Beta output distribution.
LAV2NavRLPPORunnerCfg	Hydra-compatible config class for the NavRL task.

函数：

名称	描述
get_runner_cfg	Return a rsl-rl v5 native config dict for the NavRL task.

BetaDistributionCfg

Configuration for the Beta output distribution.

LAV2NavRLPPORunnerCfg

Bases: RslRlOnPolicyRunnerCfg

Hydra-compatible config class for the NavRL task.

get_runner_cfg

get_runner_cfg(experiment_name: str = _EXPERIMENT_NAME, max_iterations: int = _MAX_ITERATIONS, lidar_out_dim: int = 128, dyn_obs_out_dim: int = 64, init_std: float = 1.0, distribution: str = 'beta', action_range: tuple[float, float] = (-1.0, 1.0)) -> dict

Return a rsl-rl v5 native config dict for the NavRL task.

参数：

名称	类型	描述	默认
experiment_name	str	Logging directory name.	_EXPERIMENT_NAME
max_iterations	int	Number of PPO iterations.	_MAX_ITERATIONS
lidar_out_dim	int	Output dimension of the LiDAR CNN encoder.	128
dyn_obs_out_dim	int	Output dimension of the dynamic-obstacle encoder.	64
init_std	float	Initial standard deviation (Gaussian only). Default 1.0 (matches skrl NavRL config log_std=0).	1.0
distribution	str	Output distribution, "beta" or "gaussian". Default "beta".	'beta'
action_range	tuple[float, float]	Action space bounds (Beta only). Default (-1.0, 1.0).	(-1.0, 1.0)