[KongchangAI]
Unverified50% confidenceFactExact time

penalty_joint_pos_init gradually reduces its weight as training progresses through curriculum learning, and the penalty_slip anti-slip penalty has not yet been implemented.

1
Sources
50%
Confidence
Medium-term (~90 days)
Relevance
9/29/2026
First Seen
Valid until: 12/28/2026

Sources

Cubic Doggo in Practice: Lessons Learned Training a Robot Dog to Stand with MuJoCo and PPO

Related Entities

Cubic DoggoproductCurriculum Learningconcept

Related Claims

UnverifiedGRPO and its variants often encounter issues such as training collapse, reward oscillation, and late-stage performance degradation in actual training.62% similar

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