How to reproduce DayDreamer's results in A1 simulator?

[Sapio-S]

Hi,

I find your work really fascinating and I am trying to reproduce DayDreamer's results in A1 robot dog simulator. The simulator is the A1 robot in Google motion imitation, and I adopt the same parameters for dreamer as in the default config for A1 robot. However, after training for a day (about 0.7M steps), the robot can learn merely not to trip over, but hardly walk or run. In the end, the dog walks somehow like this.

I am wondering what I may be missing for the reproduction. I notice that you have filtered out high frequency motor commands, could it be the main deficiency in my reproduction? Also, how many steps did you train on real A1 robots? About 20Hz * 60sec * 60min =72k steps?

I appreciate any advice from your experience. Thanks a lot!