Domain Randomizations for Training Locomotion

Domain Randomizations

We randomize the following terms

payload mass: [-1, 2]

center of mass displacement: [-0.05, 0.05]

link mass: [0.8, 1.2]

friction: [0.1, 2.0]

kp: [0.8, 1.2]

kd: [0.8, 1.2]

initial joint position scale: [0.5, 1.5]

initial joint position offset: [-0.1, 0.1]

default joint position offset: [-0.02, 0.02]

(accounting for calibration error)

push robot vel: 1.5

observation noise

base angular velocity: 0.2

gravity: 0.05

ang_vel: 0.3

dof_pos: 0.02

dof_vel: 2.0