fix: make terrain_levels_vel promotion threshold track commanded velocity#1072
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mvanhorn wants to merge 1 commit into
Open
fix: make terrain_levels_vel promotion threshold track commanded velocity#1072mvanhorn wants to merge 1 commit into
mvanhorn wants to merge 1 commit into
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Summary
The
terrain_levels_velcurriculum promoted any robot that walked past half the terrain size, which is unfair to slow commanded velocities: a robot commanded to move slowly can never reach the fixed threshold within an episode, while a fast one clears it trivially. This makes the promotion threshold track the commanded velocity, using expected straight-line displacement (command_speed * max_episode_length_s), with a chord correction for commanded turning, capped at half the terrain size.Adds curriculum tests covering slow, fast, and turning commands.
Fixes #934