Frank14f
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5f061bec06
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feat(train): cross-Re transfer pipeline — re60/re200/re400 calibrations + script
- Add crossre_transfer.sh: calibrate → transfer-train for re60→re200→re400
- Add re60 config (ν=0.006667, SI=800, uniform+free-slip, very weak shedding)
- Calibrate re60, re200, re400: FORCE_SCALE, SENS_SCALE, dtw_norm_scale, SIM_BP
- Fix all paths: use DynamisLab submodule CelerisLab, remove external ~/CelerisLab
- Remove _clean_cache() from envs/calibrate — CelerisLab handles internally
- Move V4 backups to old/: env_karman_2000x600, train_karman_2000x600, etc.
- train_karman.py: save model + vecnormalize every episode (non-optional)
- Update TRAIN_KNOWLEDGE.md: file structure, calibration table, cross-re guide
- All 3 Re verified: 5-episode transfer test passed (re60: 0.64, re200: 0.43, re400: 0.49)
Co-authored-by: Cursor <cursoragent@cursor.com>
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2026-07-03 00:21:49 +08:00 |
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