delta model training

[DavidZhaoP]

Hi! Can anybody provide a example file with "action" in training delta model of command:

python humanoidverse/train_agent.py \
+simulator=isaacgym
+exp=train_delta_a_open_loop
+domain_rand=NO_domain_rand
+rewards=motion_tracking/delta_a/reward_delta_a_openloop
+robot=g1/g1_29dof_anneal_23dof
+terrain=terrain_locomotion_plane
+obs=delta_a/open_loop
num_envs=5000
project_name=DeltaA_Training
experiment_name=openloopDeltaA_training
robot.motion.motion_file="<PATH_TO_YOUR_MOTION_FILE_WITH_ACTION_KEYNAME>"
env.config.max_episode_length_s=1.0
rewards.reward_scales.penalty_minimal_action_norm=-0.1
+device=cuda:0
env.config.resample_motion_when_training=True
env.config.resample_time_interval_s=10000

Tanks so much!!!!!!