{"id":77008,"date":"2026-02-23T19:42:06","date_gmt":"2026-02-23T11:42:06","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/77008.html"},"modified":"2026-02-23T19:42:06","modified_gmt":"2026-02-23T11:42:06","slug":"%e5%ae%87%e6%a0%91h1%e4%ba%ba%e5%bd%a2%e6%9c%ba%e5%99%a8%e4%ba%ba%e5%bc%ba%e5%8c%96%e5%ad%a6%e4%b9%a0%e6%8e%a7%e5%88%b6rl%e4%be%8b%e7%a8%8b%e5%a4%8d%e7%8e%b0","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/77008.html","title":{"rendered":"\u5b87\u6811H1\u4eba\u5f62\u673a\u5668\u4eba\u5f3a\u5316\u5b66\u4e60\u63a7\u5236RL\u4f8b\u7a0b\u590d\u73b0"},"content":{"rendered":"

Unitree RL GYM<\/h2>\n

Unitree RL GYM \u662f\u4e00\u4e2a\u57fa\u4e8e Unitree \u673a\u5668\u4eba\u5e73\u53f0\u548cIsaac Gym\u4eff\u771f\u7684\u5f3a\u5316\u5b66\u4e60\u793a\u4f8b\u4ed3\u5e93，\u652f\u6301\u591a\u79cd Unitree \u673a\u5668\u4eba\u578b\u53f7（\u5982 Go2\u3001H1\u3001H1_2 \u548c G1）\u3002<\/p>\n

\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60（Reinforcement Learning）\u6280\u672f\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u63a7\u5236，\u6db5\u76d6\u4ece\u4eff\u771f\u8bad\u7ec3\u5230\u5b9e\u7269\u90e8\u7f72\u7684\u5168\u6d41\u7a0b，\u5305\u62ec：<\/p>\n

\u8bad\u7ec3（Train）：\u5728\u4eff\u771f\u73af\u5883\u4e2d\u8bad\u7ec3\u673a\u5668\u4eba\u7b56\u7565\u3002 \u64ad\u653e（Play）：\u9a8c\u8bc1\u8bad\u7ec3\u6548\u679c\u3002 \u4eff\u771f\u5230\u4eff\u771f（Sim2Sim）：\u5c06\u7b56\u7565\u8fc1\u79fb\u5230\u5176\u4ed6\u4eff\u771f\u5668（\u5982 Mujoco）\u3002 \u4eff\u771f\u5230\u5b9e\u7269（Sim2Real）：\u5c06\u7b56\u7565\u90e8\u7f72\u5230\u771f\u5b9e\u673a\u5668\u4eba\u3002<\/p>\n<\/p>\n

\u63a5\u4e0b\u6765\u5c06\u6309\u7167\u5b98\u65b9\u5f00\u6e90\u6587\u6863，\u4ee5\u5b87\u6811H1\u4e3a\u4f8b\u8fdb\u884c\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u548c\u63a8\u7406，\u81f3\u4e8e\u4e3a\u4ec0\u4e48\u9009H1\u8fd9\u4e48\u8001\u7684\u673a\u578b\u7740\u624b，\u800c\u4e0d\u662f\u66f4\u52a0\u6d41\u884c\u7684G1\u3001H2\u4eba\u5f62\u673a\u5668\u4eba，\u5c31\u662f\u56e0\u4e3aH1\u5173\u8282\u81ea\u7531\u5ea6\u5c11\u6574\u673a\u7ed3\u6784\u7b80\u5355，\u4ee5\u540e\u51c6\u5907\u4f7f\u7528python\u7814\u7a76\u5b87\u6811H1\u4eba\u5f62\u673a\u5668\u4eba\u5168\u8eab\u8fd0\u52a8\u5b66\u3002<\/p>\n

H1\u5173\u8282\u5e8f\u53f7\u4e0e\u5173\u8282\u9650\u4f4d<\/h3>\n\n\u5173\u8282\u5e8f\u53f7\u5173\u8282\u540d\u79f0\u9650\u4f4d<\/tr>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
8<\/td>\n\u53f3\u817f\u504f\u822a\u7535\u673a<\/td>\n-0.43~+0.43\u00a0rad<\/td>\n<\/tr>\n
0<\/td>\n\u53f3\u817f\u6eda\u52a8\u7535\u673a<\/td>\n-0.43~+0.43\u00a0rad<\/td>\n<\/tr>\n
1<\/td>\n\u53f3\u817f\u4fef\u4ef0\u7535\u673a<\/td>\n-3.14~+2.53\u00a0rad<\/td>\n<\/tr>\n
2<\/td>\n\u53f3\u817f\u819d\u7535\u673a<\/td>\n-0.26~+2.05\u00a0rad<\/td>\n<\/tr>\n
11<\/td>\n\u53f3\u817f\u8e1d\u7535\u673a<\/td>\n-0.87~+0.52\u00a0rad<\/td>\n<\/tr>\n
7<\/td>\n\u5de6\u817f\u504f\u822a\u7535\u673a<\/td>\n-0.43~+0.43\u00a0rad<\/td>\n<\/tr>\n
3<\/td>\n\u5de6\u817f\u6eda\u52a8\u7535\u673a<\/td>\n-0.43~+0.43\u00a0rad<\/td>\n<\/tr>\n
4<\/td>\n\u5de6\u817f\u4fef\u4ef0\u7535\u673a<\/td>\n-3.14~+2.53\u00a0rad<\/td>\n<\/tr>\n
5<\/td>\n\u5de6\u817f\u819d\u7535\u673a<\/td>\n-0.26~+2.05\u00a0rad<\/td>\n<\/tr>\n
10<\/td>\n\u5de6\u817f\u8e1d\u7535\u673a<\/td>\n-0.87~+0.52\u00a0rad<\/td>\n<\/tr>\n
6<\/td>\n\u8eaf\u5e72\u504f\u822a\u7535\u673a<\/td>\n-2.35~+2.35\u00a0rad<\/td>\n<\/tr>\n
12<\/td>\n\u53f3\u624b\u4fef\u4ef0\u7535\u673a<\/td>\n-2.87~+2.87\u00a0rad<\/td>\n<\/tr>\n
13<\/td>\n\u53f3\u624b\u6eda\u52a8\u7535\u673a<\/td>\n-3.11~+0.34\u00a0rad<\/td>\n<\/tr>\n
14<\/td>\n\u53f3\u624b\u504f\u822a\u7535\u673a<\/td>\n-4.45~+1.3\u00a0rad<\/td>\n<\/tr>\n
15<\/td>\n\u53f3\u624b\u8098\u7535\u673a<\/td>\n-1.25~+2.61\u00a0rad<\/td>\n<\/tr>\n
16<\/td>\n\u5de6\u624b\u4fef\u4ef0\u7535\u673a<\/td>\n-2.87~+2.87\u00a0rad<\/td>\n<\/tr>\n
17<\/td>\n\u5de6\u624b\u6eda\u52a8\u7535\u673a<\/td>\n-0.34~+3.11\u00a0rad<\/td>\n<\/tr>\n
18<\/td>\n\u5de6\u624b\u504f\u822a\u7535\u673a<\/td>\n-1.3~+4.45\u00a0rad<\/td>\n<\/tr>\n
19<\/td>\n\u5de6\u624b\u8098\u7535\u673a<\/td>\n-1.25~+2.61\u00a0rad<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\"\"<\/h2>\n

\u4e00\u5171\u624d19\u4e2a\u81ea\u7531\u5ea6，\u4ee5\u5f80\u9047\u5230\u7684\u673a\u68b0\u81c2\u63a7\u5236\u4e5f\u89816-7\u4e2a\u81ea\u7531\u5ea6，\u8fd9\u6837\u590d\u6742\u5ea6\u4e0d\u4f1a\u592a\u9ad8，\u6bd5\u7adf\u4e1a\u4f59\u65f6\u95f4\u6709\u9650\u3002<\/p>\n

\u73af\u5883\u51c6\u5907<\/h2>\n

\u7cfb\u7edf：<\/h3>\n

ubuntu20，\u611f\u89c9\u662f\u76ee\u524d\u6700\u7a33\u5b9a\u5e38\u7528\u7684，\u6700\u597d\u4e0d\u8981\u7528\u865a\u62df\u673a<\/p>\n

\u663e\u5361：<\/h3>\n

Nidia\u663e\u5361\u9a71\u52a8\u6211\u7684\u7248\u672c: 570.144<\/p>\n

\u7ec8\u7aef\u8f93\u5165\u6307\u4ee4\u67e5\u770b：nvidia-smi<\/p>\n

Mon Feb 23 13:46:02 2026<\/p>\n

+—————————————————————————————–+<\/p>\n

| NVIDIA-SMI 570.144 Driver Version: 570.144 CUDA Version: 12.8 |<\/p>\n<\/p>\n

\u7ec8\u7aef\u8f93\u5165\u6307\u4ee4\u67e5\u770b：nvcc -V<\/p>\n

nvcc: NVIDIA (R) Cuda compiler driver<\/p>\n

Copyright (c) 2005-2025 NVIDIA Corporation<\/p>\n

Built on Fri_Feb_21_20:23:50_PST_2025<\/p>\n

Cuda compilation tools, release 12.8, V12.8.93<\/p>\n

Build cuda_12.8.r12.8\/compiler.35583870_0<\/p>\n<\/p>\n

NVIDIA \u7684\u9a71\u52a8\u5411\u540e\u517c\u5bb9，\u5b9e\u6d4b\u53ef\u7528，\u672c\u6765\u60f3\u6309\u7167\u5b98\u65b9\u6587\u6863\u8981\u6c42\u964d\u7ea7\u7684\u3002<\/p>\n<\/p>\n

Anaconda:<\/h3>\n

conda create -n rl-h1 python=3.8<\/p>\n

# To activate this environment, use<\/p>\n

conda activate rl-h1<\/p>\n

# To deactivate an active environment, use<\/p>\n

conda deactivate <\/p>\n

\u00a0 <\/p>\n

\u5f00\u59cb\u5f3a\u5316\u5b66\u4e60\u63a7\u5236RL\u590d\u73b0<\/h2>\n<\/p>\n

\u6240\u6709\u7684\u5185\u5bb9\u5728\u5b98\u7f51\u90fd\u53ef\u4ee5\u627e\u5230：<\/p>\n

https:\/\/support.unitree.com\/home\/zh\/H1_developer\/RL_Control_Routine<\/p>\n

\u4e0b\u8f7d Isaac Gym Preview 4 \u4eff\u771f\u5e73\u53f0<\/h3>\n

https:\/\/developer.nvidia.com\/isaac-gym
\n# current directory: isaacgym\/python
\npip install -e .<\/p>\n

# current directory: isaacgym\/python\/examples
\npython 1080_balls_of_solitude.py <\/p>\n

\u5b89\u88c5rsl_rl\u5e93<\/h3>\n

git config –global http.sslbackend gnutls
\ngit clone https:\/\/github.com\/leggedrobotics\/rsl_rl
\ncd rsl_rl
\ngit checkout v1.0.2
\npip install -e . <\/p>\n

\u82e5\u5b89\u88c5\u6210\u529f，\u53ef\u770b\u5230\u5982\u4e0b\u7a97\u53e3\u3002<\/p>\n

\"\"<\/p>\n

\u6a21\u578b\u8bad\u7ec3<\/h3>\n

# \u4e0b\u8f7d\u5b87\u6811\u5b98\u65b9\u793a\u4f8b\u4ee3\u7801<\/p>\n

git clone https:\/\/github.com\/unitreerobotics\/unitree_rl_gym.git<\/p>\n

# \u4fee\u6539 legged_gym\/scripts\/train.py ， legged_gym\/scripts\/play.py \u4e2d\u7684sys.path.append("\/home\/unitree\/h1\/legged_gym")
\n# \u4e3a\u81ea\u5df1\u7684\u8def\u5f84\u3002
\n# \u6fc0\u6d3b\u5f3a\u5316\u5b66\u4e60\u865a\u62df\u73af\u5883<\/p>\n

#\u6ce8\u610f\u5b98\u65b9\u6587\u6863\u6f0f\u4e86\u5b89\u88c5\u8fd9\u4e00\u6b65！！！！！！！！！！！！
\ncd unitree_rl_gym
\npip install -e .<\/p>\n

conda activate rl-h1<\/p>\n

# \u5207\u6362\u5230 legged_gym\/scripts \u76ee\u5f55\u4e0b，\u6267\u884c\u8bad\u7ec3\u6307\u4ee4，\u5f00\u59cb\u8bad\u7ec3\u3002<\/p>\n

python3 train.py –task=h1<\/p>\n

# \u4fee\u6539 train.py \u6587\u4ef6\u4e2d\u7684 args.headless \u53c2\u6570，\u53ef\u5f00\u542f\u6216\u5173\u95ed\u53ef\u89c6\u5316\u754c\u9762\u3002 <\/p>\n

isaac_gym \u51fa\u73b0\u5982\u4e0b\u754c\u9762，\u5219\u8bad\u7ec3\u5f00\u59cb\u3002<\/p>\n

\"\"<\/p>\n

\u6211\u76843070\u663e\u5361\u53ea\u67098G\u663e\u5b58，\u9a6c\u4e0a\u5c31\u6ee1\u8f7d\u4e86，\u8bad\u7ec3\u8fc7\u7a0b\u9ed8\u8ba4\u8fed\u4ee310000\u6b21，\u5b9e\u5728\u592a\u6f2b\u957f\u4e86<\/p>\n

\"\"<\/p>\n

\u786c\u4ef6\u8d44\u6e90\u6709\u9650，\u7b49\u4e0d\u4e86\u6539\u6210100\u6b21\u3002<\/p>\n

\u5728\/unitree_rl_gym\/legged_gym\/envs\/h1\/h1_config.py\u6587\u4ef6\u4e2d\u4fee\u6539<\/p>\n

max_iterations = 100<\/p>\n

\"\"<\/p>\n

100\u6b21\u4e5f\u8dd1\u4e86\u5927\u6982\u534a\u5c0f\u65f6，\u5982\u679c\u9ed8\u8ba410000\u6b21\u90a3\u5c31\u662f50\u4e2a\u5c0f\u65f6，\u5373\u4f7f\u6587\u6863\u63a8\u8350\u76841500\u6b21\u4e5f\u89818\u5c0f\u65f6，\u7b49\u4e0d\u53ca，\u5148\u8dd1\u901a\u6d41\u7a0b<\/p>\n

\u63a8\u7406<\/h3>\n

python play.py –task=h1 <\/p>\n

\"\"<\/p>\n

100\u6b21\u8bad\u7ec3\u7684\u6a21\u578b\u80fd\u529b\u8fd8\u662f\u4e1c\u5012\u897f\u6b6a\u7684，\u63a8\u8350\u76841500\u6b21\u5e94\u8be5\u662f\u5b98\u65b9\u5b9e\u6d4b\u6027\u4ef7\u6bd4\u6700\u9ad8\u7684<\/p>\n

\u76f4\u63a5\u653e\u4e00\u4e2a\u5b98\u65b9\u89c6\u9891<\/p>\n

\"\"<\/p>\n<\/p>\n

\u62a5\u9519\u5904\u7406<\/h2>\n

\u62a5\u9519：AttributeError: module 'distutils' has no attribute 'version'<\/p>\n<\/p>\n

\u8fd0\u884cpip show setuptools\u67e5\u770b<\/p>\n

Name: setuptools<\/p>\n

Version: 75.1.0<\/p>\n<\/p>\n

\u56e0\u4e3a setuptools\u7248\u672c\u8fc7\u9ad8，\u79fb\u9664\u4e86\u5bf9 distutils\u7684\u652f\u6301\u3002\u9700\u8981\u964d\u7ea7 setuptools\u5230\u517c\u5bb9\u7248\u672c\u3002<\/p>\n

pip install setuptools==58.0.4<\/p>\n","protected":false},"excerpt":{"rendered":"

Unitree RL GYM
\nUnitree RL GYM \u662f\u4e00\u4e2a\u57fa\u4e8e Unitree \u673a\u5668\u4eba\u5e73\u53f0\u548cIsaac Gym\u4eff\u771f\u7684\u5f3a\u5316\u5b66\u4e60\u793a\u4f8b\u4ed3\u5e93，\u652f\u6301\u591a\u79cd Unitree \u673a\u5668\u4eba\u578b\u53f7（\u5982 Go2\u3001H1\u3001H1_2 \u548c G1）\u3002 \u901a\u8fc7\u5f3a\u5316\u5b66\u4e60（Reinforcement Learning）\u6280\u672f\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u63a7\u5236，\u6db5\u76d6\u4ece\u4eff\u771f\u8bad\u7ec3\u5230\u5b9e\u7269\u90e8\u7f72\u7684\u5168\u6d41\u7a0b，\u5305\u62ec：
\n\u8bad\u7ec3&#xff<\/p>\n","protected":false},"author":2,"featured_media":77001,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[6561,8418,632,3747,752,384],"topic":[],"class_list":["post-77008","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-6561","tag-h1","tag-isaac","tag-3747","tag-752","tag-384"],"yoast_head":"\n\u5b87\u6811H1\u4eba\u5f62\u673a\u5668\u4eba\u5f3a\u5316\u5b66\u4e60\u63a7\u5236RL\u4f8b\u7a0b\u590d\u73b0 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/77008.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u5b87\u6811H1\u4eba\u5f62\u673a\u5668\u4eba\u5f3a\u5316\u5b66\u4e60\u63a7\u5236RL\u4f8b\u7a0b\u590d\u73b0 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"Unitree RL GYM Unitree RL GYM \u662f\u4e00\u4e2a\u57fa\u4e8e Unitree \u673a\u5668\u4eba\u5e73\u53f0\u548cIsaac Gym\u4eff\u771f\u7684\u5f3a\u5316\u5b66\u4e60\u793a\u4f8b\u4ed3\u5e93，\u652f\u6301\u591a\u79cd Unitree \u673a\u5668\u4eba\u578b\u53f7（\u5982 Go2\u3001H1\u3001H1_2 \u548c G1）\u3002 \u901a\u8fc7\u5f3a\u5316\u5b66\u4e60（Reinforcement Learning）\u6280\u672f\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u63a7\u5236，\u6db5\u76d6\u4ece\u4eff\u771f\u8bad\u7ec3\u5230\u5b9e\u7269\u90e8\u7f72\u7684\u5168\u6d41\u7a0b，\u5305\u62ec： \u8bad\u7ec3&#xff\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/77008.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-02-23T11:42:06+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/02\/20260223114157-699c3d0516c13.png\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"admin\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"2 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/77008.html\",\"url\":\"https:\/\/www.wsisp.com\/helps\/77008.html\",\"name\":\"\u5b87\u6811H1\u4eba\u5f62\u673a\u5668\u4eba\u5f3a\u5316\u5b66\u4e60\u63a7\u5236RL\u4f8b\u7a0b\u590d\u73b0 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"isPartOf\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\"},\"datePublished\":\"2026-02-23T11:42:06+00:00\",\"dateModified\":\"2026-02-23T11:42:06+00:00\",\"author\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\"},\"breadcrumb\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/77008.html#breadcrumb\"},\"inLanguage\":\"zh-Hans\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/www.wsisp.com\/helps\/77008.html\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/77008.html#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"\u9996\u9875\",\"item\":\"https:\/\/www.wsisp.com\/helps\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"\u5b87\u6811H1\u4eba\u5f62\u673a\u5668\u4eba\u5f3a\u5316\u5b66\u4e60\u63a7\u5236RL\u4f8b\u7a0b\u590d\u73b0\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\",\"url\":\"https:\/\/www.wsisp.com\/helps\/\",\"name\":\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"description\":\"\u9999\u6e2f\u670d\u52a1\u5668_\u9999\u6e2f\u4e91\u670d\u52a1\u5668\u8d44\u8baf_\u670d\u52a1\u5668\u5e2e\u52a9\u6587\u6863_\u670d\u52a1\u5668\u6559\u7a0b\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/www.wsisp.com\/helps\/?s={search_term_string}\"},\"query-input\":\"required name=search_term_string\"}],\"inLanguage\":\"zh-Hans\"},{\"@type\":\"Person\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\",\"name\":\"admin\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"zh-Hans\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/image\/\",\"url\":\"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery\",\"contentUrl\":\"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery\",\"caption\":\"admin\"},\"sameAs\":[\"http:\/\/wp.wsisp.com\"],\"url\":\"https:\/\/www.wsisp.com\/helps\/author\/admin\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"\u5b87\u6811H1\u4eba\u5f62\u673a\u5668\u4eba\u5f3a\u5316\u5b66\u4e60\u63a7\u5236RL\u4f8b\u7a0b\u590d\u73b0 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/www.wsisp.com\/helps\/77008.html","og_locale":"zh_CN","og_type":"article","og_title":"\u5b87\u6811H1\u4eba\u5f62\u673a\u5668\u4eba\u5f3a\u5316\u5b66\u4e60\u63a7\u5236RL\u4f8b\u7a0b\u590d\u73b0 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","og_description":"Unitree RL GYM Unitree RL GYM \u662f\u4e00\u4e2a\u57fa\u4e8e Unitree \u673a\u5668\u4eba\u5e73\u53f0\u548cIsaac Gym\u4eff\u771f\u7684\u5f3a\u5316\u5b66\u4e60\u793a\u4f8b\u4ed3\u5e93，\u652f\u6301\u591a\u79cd Unitree \u673a\u5668\u4eba\u578b\u53f7（\u5982 Go2\u3001H1\u3001H1_2 \u548c G1）\u3002 \u901a\u8fc7\u5f3a\u5316\u5b66\u4e60（Reinforcement Learning）\u6280\u672f\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u63a7\u5236，\u6db5\u76d6\u4ece\u4eff\u771f\u8bad\u7ec3\u5230\u5b9e\u7269\u90e8\u7f72\u7684\u5168\u6d41\u7a0b，\u5305\u62ec： \u8bad\u7ec3&#xff","og_url":"https:\/\/www.wsisp.com\/helps\/77008.html","og_site_name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","article_published_time":"2026-02-23T11:42:06+00:00","og_image":[{"url":"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/02\/20260223114157-699c3d0516c13.png"}],"author":"admin","twitter_card":"summary_large_image","twitter_misc":{"\u4f5c\u8005":"admin","\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4":"2 \u5206"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/www.wsisp.com\/helps\/77008.html","url":"https:\/\/www.wsisp.com\/helps\/77008.html","name":"\u5b87\u6811H1\u4eba\u5f62\u673a\u5668\u4eba\u5f3a\u5316\u5b66\u4e60\u63a7\u5236RL\u4f8b\u7a0b\u590d\u73b0 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","isPartOf":{"@id":"https:\/\/www.wsisp.com\/helps\/#website"},"datePublished":"2026-02-23T11:42:06+00:00","dateModified":"2026-02-23T11:42:06+00:00","author":{"@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41"},"breadcrumb":{"@id":"https:\/\/www.wsisp.com\/helps\/77008.html#breadcrumb"},"inLanguage":"zh-Hans","potentialAction":[{"@type":"ReadAction","target":["https:\/\/www.wsisp.com\/helps\/77008.html"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/www.wsisp.com\/helps\/77008.html#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"\u9996\u9875","item":"https:\/\/www.wsisp.com\/helps"},{"@type":"ListItem","position":2,"name":"\u5b87\u6811H1\u4eba\u5f62\u673a\u5668\u4eba\u5f3a\u5316\u5b66\u4e60\u63a7\u5236RL\u4f8b\u7a0b\u590d\u73b0"}]},{"@type":"WebSite","@id":"https:\/\/www.wsisp.com\/helps\/#website","url":"https:\/\/www.wsisp.com\/helps\/","name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","description":"\u9999\u6e2f\u670d\u52a1\u5668_\u9999\u6e2f\u4e91\u670d\u52a1\u5668\u8d44\u8baf_\u670d\u52a1\u5668\u5e2e\u52a9\u6587\u6863_\u670d\u52a1\u5668\u6559\u7a0b","potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/www.wsisp.com\/helps\/?s={search_term_string}"},"query-input":"required name=search_term_string"}],"inLanguage":"zh-Hans"},{"@type":"Person","@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41","name":"admin","image":{"@type":"ImageObject","inLanguage":"zh-Hans","@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/image\/","url":"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery","contentUrl":"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery","caption":"admin"},"sameAs":["http:\/\/wp.wsisp.com"],"url":"https:\/\/www.wsisp.com\/helps\/author\/admin"}]}},"_links":{"self":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/77008","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/comments?post=77008"}],"version-history":[{"count":0,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/77008\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/media\/77001"}],"wp:attachment":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/media?parent=77008"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/categories?post=77008"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/tags?post=77008"},{"taxonomy":"topic","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/topic?post=77008"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}