Add pretrained locomotion policies for EmbodiChain

CONTRIBUTING.md

@@ -0,0 +1,17 @@
+# Adding a policy
+
+1. Use a unique lowercase, hyphenated model ID under `policies/`.
+2. Include one selected checkpoint, a supported RunManifest, portable relative
+   configuration snapshots. State any applicable weight license explicitly.
+3. Record the training source, checkpoint selection basis, tested software
+   versions, limitations and checkpoint metadata in evaluation.json. Keep MP4 files, robot
+   assets, local paths, credentials and training logs outside this repository.
+4. Check checkpoint/configuration consistency and evaluate with the declared
+   runtime and an empty asset cache before publication.
+5. Update index.json and the model files in the same reviewed repository
+   revision. Keep the revision history referenced by released EmbodiChain
+   versions. New environment implementations or model formats need matching
+   EmbodiChain/task-package support before they can be evaluated.
+
+Keep shared usage instructions in EmbodiChain documentation and link them from
+the repository README. Individual model README files are not required.

README.md

@@ -0,0 +1,28 @@
+---
+tags:
+- embodichain
+- reinforcement-learning
+- locomotion
+---
+
+# EmbodiChain models
+
+Pretrained model bundles for [EmbodiChain](https://github.com/DexForce/EmbodiChain).
+This repository contains 12 PPO policies: ANYmal-C, G1 flat locomotion, Go1, Go2,
+H1_2 and MicroDuck, each with `default` and `newton` physics configurations.
+
+- [Model index](index.json): model IDs, tasks and tested runtime information.
+- `policies/<model-id>/`: weights, RunManifest, configuration snapshots and evaluation evidence.
+- [Policy evaluation documentation](https://github.com/DexForce/EmbodiChain/blob/main/docs/source/guides/cli.md#policy-evaluation): installation prerequisites, commands and options are maintained in EmbodiChain.
+- Robot assets are distributed separately in `DexForceAI/embodichain_data`.
+
+HF revisions version the index and bundles together. No videos are included.
+
+## Evaluation and licensing
+
+No weight license is currently declared. EmbodiChain's code license does not
+establish the redistribution terms of these weights.
+
+Evaluation summaries record prior 1,000-step checks using a development DexSim
+build and cached robot assets. Public-runtime and clean-cache validation remain
+pending. Checkpoint training counters are recorded in each evaluation.json.

index.json

@@ -0,0 +1,209 @@
+{
+  "schema_version": 1,
+  "models": {
+    "anymal-c-flat-ppo-default": {
+      "format": "embodichain-rl-run-v1",
+      "task": "locomotion/velocity/anymal_c_flat",
+      "task_package": "embodichain_tasks",
+      "tags": [
+        "locomotion",
+        "velocity",
+        "anymal-c",
+        "ppo",
+        "default"
+      ],
+      "tested_with": {
+        "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+        "dexsim": "development build",
+        "public_wheel_validated": false
+      }
+    },
+    "anymal-c-flat-ppo-newton": {
+      "format": "embodichain-rl-run-v1",
+      "task": "locomotion/velocity/anymal_c_flat",
+      "task_package": "embodichain_tasks",
+      "tags": [
+        "locomotion",
+        "velocity",
+        "anymal-c",
+        "ppo",
+        "newton"
+      ],
+      "tested_with": {
+        "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+        "dexsim": "development build",
+        "public_wheel_validated": false
+      }
+    },
+    "g1-flat-ppo-default": {
+      "format": "embodichain-rl-run-v1",
+      "task": "locomotion/velocity/g1_flat",
+      "task_package": "embodichain_tasks",
+      "tags": [
+        "locomotion",
+        "velocity",
+        "g1",
+        "ppo",
+        "default"
+      ],
+      "tested_with": {
+        "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+        "dexsim": "development build",
+        "public_wheel_validated": false
+      }
+    },
+    "g1-flat-ppo-newton": {
+      "format": "embodichain-rl-run-v1",
+      "task": "locomotion/velocity/g1_flat",
+      "task_package": "embodichain_tasks",
+      "tags": [
+        "locomotion",
+        "velocity",
+        "g1",
+        "ppo",
+        "newton"
+      ],
+      "tested_with": {
+        "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+        "dexsim": "development build",
+        "public_wheel_validated": false
+      }
+    },
+    "go1-flat-ppo-default": {
+      "format": "embodichain-rl-run-v1",
+      "task": "locomotion/velocity/go1_flat",
+      "task_package": "embodichain_tasks",
+      "tags": [
+        "locomotion",
+        "velocity",
+        "go1",
+        "ppo",
+        "default"
+      ],
+      "tested_with": {
+        "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+        "dexsim": "development build",
+        "public_wheel_validated": false
+      }
+    },
+    "go1-flat-ppo-newton": {
+      "format": "embodichain-rl-run-v1",
+      "task": "locomotion/velocity/go1_flat",
+      "task_package": "embodichain_tasks",
+      "tags": [
+        "locomotion",
+        "velocity",
+        "go1",
+        "ppo",
+        "newton"
+      ],
+      "tested_with": {
+        "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+        "dexsim": "development build",
+        "public_wheel_validated": false
+      }
+    },
+    "go2-flat-ppo-default": {
+      "format": "embodichain-rl-run-v1",
+      "task": "locomotion/velocity/go2_flat",
+      "task_package": "embodichain_tasks",
+      "tags": [
+        "locomotion",
+        "velocity",
+        "go2",
+        "ppo",
+        "default"
+      ],
+      "tested_with": {
+        "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+        "dexsim": "development build",
+        "public_wheel_validated": false
+      }
+    },
+    "go2-flat-ppo-newton": {
+      "format": "embodichain-rl-run-v1",
+      "task": "locomotion/velocity/go2_flat",
+      "task_package": "embodichain_tasks",
+      "tags": [
+        "locomotion",
+        "velocity",
+        "go2",
+        "ppo",
+        "newton"
+      ],
+      "tested_with": {
+        "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+        "dexsim": "development build",
+        "public_wheel_validated": false
+      }
+    },
+    "h1-2-flat-ppo-default": {
+      "format": "embodichain-rl-run-v1",
+      "task": "locomotion/velocity/h1_2_flat",
+      "task_package": "embodichain_tasks",
+      "tags": [
+        "locomotion",
+        "velocity",
+        "h1-2",
+        "ppo",
+        "default"
+      ],
+      "tested_with": {
+        "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+        "dexsim": "development build",
+        "public_wheel_validated": false
+      }
+    },
+    "h1-2-flat-ppo-newton": {
+      "format": "embodichain-rl-run-v1",
+      "task": "locomotion/velocity/h1_2_flat",
+      "task_package": "embodichain_tasks",
+      "tags": [
+        "locomotion",
+        "velocity",
+        "h1-2",
+        "ppo",
+        "newton"
+      ],
+      "tested_with": {
+        "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+        "dexsim": "development build",
+        "public_wheel_validated": false
+      }
+    },
+    "microduck-flat-ppo-default": {
+      "format": "embodichain-rl-run-v1",
+      "task": "locomotion/velocity/microduck_flat",
+      "task_package": "embodichain_tasks",
+      "tags": [
+        "locomotion",
+        "velocity",
+        "microduck",
+        "ppo",
+        "default"
+      ],
+      "tested_with": {
+        "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+        "dexsim": "development build",
+        "public_wheel_validated": false
+      }
+    },
+    "microduck-flat-ppo-newton": {
+      "format": "embodichain-rl-run-v1",
+      "task": "locomotion/velocity/microduck_flat",
+      "task_package": "embodichain_tasks",
+      "tags": [
+        "locomotion",
+        "velocity",
+        "microduck",
+        "ppo",
+        "newton"
+      ],
+      "tested_with": {
+        "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+        "dexsim": "development build",
+        "public_wheel_validated": false
+      }
+    }
+  }
+}

policies/anymal-c-flat-ppo-default/checkpoint.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9ff61e36c84d00361e84c0207ffe548038a7ae721180e382cb739ecadfdb08ec
+size 986435

policies/anymal-c-flat-ppo-default/configs/env.yaml

@@ -0,0 +1,152 @@
+id: ANYmalCFlatRL-v1
+max_episode_steps: 1000
+num_envs: 8
+headless: true
+device: cuda:0
+arena_space: 4.0
+render_cfg:
+  renderer: fast-rt
+physics_config:
+  gravity:
+  - 0.0
+  - 0.0
+  - -9.81
+  physics_dt: 0.005
+env:
+  sim_steps_per_control: 4
+  control_parts:
+  - locomotion
+  events: {}
+  observations:
+    policy:
+      func: velocity_locomotion_observation
+      mode: add
+      name: policy
+      params:
+        privileged: false
+        enable_corruption: false
+    critic:
+      func: velocity_locomotion_observation
+      mode: add
+      name: critic
+      params:
+        privileged: true
+        enable_corruption: false
+  rewards:
+    total:
+      func: velocity_locomotion_total_reward
+      mode: add
+      weight: 1.0
+      params: {}
+  actions:
+    joint_position:
+      func: DefaultJointPositionTerm
+      params: {}
+  extensions: {}
+robot:
+  uid: robot
+  fpath: ANYmalCLocomotion/usd/anymal_c.usda
+  build_pk_chain: false
+  init_pos:
+  - 0.0
+  - 0.0
+  - 0.6
+  init_qpos:
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.4
+  - -0.4
+  - 0.4
+  - -0.4
+  - -0.8
+  - 0.8
+  - -0.8
+  - 0.8
+  qpos_limits:
+    LF_HAA:
+    - -0.72
+    - 0.49
+    LF_HFE:
+    - -6.283185307179586
+    - 6.283185307179586
+    LF_KFE:
+    - -6.283185307179586
+    - 6.283185307179586
+    LH_HAA:
+    - -0.72
+    - 0.49
+    LH_HFE:
+    - -6.283185307179586
+    - 6.283185307179586
+    LH_KFE:
+    - -6.283185307179586
+    - 6.283185307179586
+    RF_HAA:
+    - -0.49
+    - 0.72
+    RF_HFE:
+    - -6.283185307179586
+    - 6.283185307179586
+    RF_KFE:
+    - -6.283185307179586
+    - 6.283185307179586
+    RH_HAA:
+    - -0.49
+    - 0.72
+    RH_HFE:
+    - -6.283185307179586
+    - 6.283185307179586
+    RH_KFE:
+    - -6.283185307179586
+    - 6.283185307179586
+  control_parts:
+    locomotion:
+    - LF_HAA
+    - LF_HFE
+    - LF_KFE
+    - LH_HAA
+    - LH_HFE
+    - LH_KFE
+    - RF_HAA
+    - RF_HFE
+    - RF_KFE
+    - RH_HAA
+    - RH_HFE
+    - RH_KFE
+  root_props:
+    fixed_base: false
+    min_position_iters: 4
+    min_velocity_iters: 0
+    self_collision_enabled: true
+  joint_drive_props:
+    drive_type: force
+    stiffness: 40.0
+    damping: 5.0
+    max_effort: 80.0
+    max_velocity: 7.5
+  asset_physics_mode: overlay
+sensor:
+- uid: locomotion_contacts
+  sensor_type: ContactSensor
+  articulation_cfg_list:
+  - articulation_uid: robot
+    link_name_list:
+    - LF_FOOT
+    - LH_FOOT
+    - RF_FOOT
+    - RH_FOOT
+    - base
+    - LF_THIGH
+    - LH_THIGH
+    - RF_THIGH
+    - RH_THIGH
+  filter_need_both_actor: false
+  max_contacts_per_env: 96
+light: {}
+background: []
+rigid_object: []
+rigid_object_group: []
+articulation: []
+physics: default

policies/anymal-c-flat-ppo-default/configs/train.yaml

@@ -0,0 +1,58 @@
+trainer:
+  exp_name: anymal_c_flat_ppo
+  gym_config: env.yaml
+  seed: 42
+  device: cuda:0
+  headless: true
+  renderer: fast-rt
+  num_envs: 4
+  iterations: 500
+  buffer_size: 24
+  enable_eval: false
+  save_frequency_updates: 50
+  use_wandb: false
+  wandb_project_name: embodichain-locomotion
+policy:
+  name: actor_critic
+  obs_groups:
+    actor:
+    - policy
+    critic:
+    - critic
+  actor:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 128
+      - 128
+      - 128
+      activation: elu
+  critic:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 128
+      - 128
+      - 128
+      activation: elu
+  initial_action_std: 1.0
+algorithm:
+  name: ppo
+  cfg:
+    optimizer:
+      name: adam
+      learning_rate: 0.001
+    schedule: adaptive
+    desired_kl: 0.01
+    minimum_learning_rate: 1.0e-05
+    maximum_learning_rate: 0.01
+    n_epochs: 5
+    num_mini_batches: 4
+    batch_size: 24576
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_coef: 0.2
+    ent_coef: 0.005
+    vf_coef: 1.0
+    use_clipped_value_loss: true
+    max_grad_norm: 1.0

policies/anymal-c-flat-ppo-default/evaluation.json

@@ -0,0 +1,63 @@
+{
+  "schema_version": 1,
+  "model_id": "anymal-c-flat-ppo-default",
+  "evidence_kind": "prior_source_policy_evaluation",
+  "created_at": "2026-09-23T02:19:47.929880+00:00",
+  "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+  "runtime": {
+    "dexsim": "development build",
+    "public_wheel_validated": false,
+    "torch": "2.10.0+cu128",
+    "newton": null
+  },
+  "conditions": {
+    "seed": 10042,
+    "renderer": "fast-rt",
+    "task_id": "ANYmalCFlatRL-v1",
+    "physics": "default",
+    "command": [
+      0.3,
+      0.0,
+      0.0
+    ],
+    "mode": "viewer"
+  },
+  "exit_code": 0,
+  "result": {
+    "control_steps": 1000,
+    "effective_duration": 20.0,
+    "episodes": [
+      {
+        "index": 0,
+        "length": 1000,
+        "reason": "time limit",
+        "reward": 26.797237139660865,
+        "success": false
+      }
+    ],
+    "metrics": {
+      "eval/avg_length": 1000.0,
+      "eval/avg_reward": 26.797237139660865,
+      "eval/success_rate": 0.0,
+      "linear_velocity_error": 0.06984560936689377,
+      "reward": 0.02671574056148529,
+      "root_height": 0.2942751348018646,
+      "yaw_rate_error": 0.04916974529623985
+    },
+    "reason": "control steps reached",
+    "requested_duration": 20.0,
+    "simulation_steps": 4000,
+    "simulation_time": 20.0
+  },
+  "limits": [
+    "This summarizes the earlier source-policy evaluation, not a new evaluation of this staged bundle.",
+    "A cached robot asset and a development simulation runtime were used.",
+    "A clean-cache evaluation using publicly installable dependencies is pending.",
+    "Velocity tasks have no terminal success goal; time-limit episodes are not failures."
+  ],
+  "checkpoint_metadata": {
+    "global_step": 93818880,
+    "num_updates": 954,
+    "best_eval_value": null
+  }
+}

policies/anymal-c-flat-ppo-default/run-manifest.json

@@ -0,0 +1,11 @@
+{
+  "schema_version": 1,
+  "configs": {
+    "train": "configs/train.yaml",
+    "gym": "configs/env.yaml"
+  },
+  "checkpoints": {
+    "latest": "checkpoint.pt",
+    "best": null
+  }
+}

policies/anymal-c-flat-ppo-newton/checkpoint.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bfb791d8c9b01c9d326af0fb672fc4079bae579712269c9977d60a2a51977b7
+size 986509

policies/anymal-c-flat-ppo-newton/configs/env.yaml

@@ -0,0 +1,163 @@
+id: ANYmalCFlatRL-v1
+max_episode_steps: 1000
+num_envs: 8
+headless: true
+device: cuda:0
+arena_space: 4.0
+render_cfg:
+  renderer: fast-rt
+physics_config:
+  sync_to_renderer: false
+  gravity:
+  - 0.0
+  - 0.0
+  - -9.81
+  num_substeps: 1
+  solver_cfg:
+    solver_type: mujoco_warp
+    njmax: 1024
+    nconmax: 256
+    iterations: 10
+    ls_iterations: 50
+    integrator: implicitfast
+    separate_worlds: true
+    tolerance: 1.0e-08
+  physics_dt: 0.005
+env:
+  sim_steps_per_control: 4
+  control_parts:
+  - locomotion
+  events: {}
+  observations:
+    policy:
+      func: velocity_locomotion_observation
+      mode: add
+      name: policy
+      params:
+        privileged: false
+        enable_corruption: false
+    critic:
+      func: velocity_locomotion_observation
+      mode: add
+      name: critic
+      params:
+        privileged: true
+        enable_corruption: false
+  rewards:
+    total:
+      func: velocity_locomotion_total_reward
+      mode: add
+      weight: 1.0
+      params: {}
+  actions:
+    joint_position:
+      func: DefaultJointPositionTerm
+      params: {}
+  extensions: {}
+robot:
+  uid: robot
+  fpath: ANYmalCLocomotion/usd/anymal_c.usda
+  build_pk_chain: false
+  init_pos:
+  - 0.0
+  - 0.0
+  - 0.6
+  init_qpos:
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.4
+  - -0.4
+  - 0.4
+  - -0.4
+  - -0.8
+  - 0.8
+  - -0.8
+  - 0.8
+  qpos_limits:
+    LF_HAA:
+    - -0.72
+    - 0.49
+    LF_HFE:
+    - -6.283185307179586
+    - 6.283185307179586
+    LF_KFE:
+    - -6.283185307179586
+    - 6.283185307179586
+    LH_HAA:
+    - -0.72
+    - 0.49
+    LH_HFE:
+    - -6.283185307179586
+    - 6.283185307179586
+    LH_KFE:
+    - -6.283185307179586
+    - 6.283185307179586
+    RF_HAA:
+    - -0.49
+    - 0.72
+    RF_HFE:
+    - -6.283185307179586
+    - 6.283185307179586
+    RF_KFE:
+    - -6.283185307179586
+    - 6.283185307179586
+    RH_HAA:
+    - -0.49
+    - 0.72
+    RH_HFE:
+    - -6.283185307179586
+    - 6.283185307179586
+    RH_KFE:
+    - -6.283185307179586
+    - 6.283185307179586
+  control_parts:
+    locomotion:
+    - LF_HAA
+    - LF_HFE
+    - LF_KFE
+    - LH_HAA
+    - LH_HFE
+    - LH_KFE
+    - RF_HAA
+    - RF_HFE
+    - RF_KFE
+    - RH_HAA
+    - RH_HFE
+    - RH_KFE
+  root_props:
+    fixed_base: false
+    min_position_iters: 4
+    min_velocity_iters: 0
+    self_collision_enabled: true
+  joint_drive_props:
+    drive_type: force
+    stiffness: 40.0
+    damping: 5.0
+    max_effort: 80.0
+    max_velocity: 7.5
+  asset_physics_mode: overlay
+sensor:
+- uid: locomotion_contacts
+  sensor_type: ContactSensor
+  articulation_cfg_list:
+  - articulation_uid: robot
+    link_name_list:
+    - LF_FOOT
+    - LH_FOOT
+    - RF_FOOT
+    - RH_FOOT
+    - base
+    - LF_THIGH
+    - LH_THIGH
+    - RF_THIGH
+    - RH_THIGH
+  filter_need_both_actor: false
+  max_contacts_per_env: 96
+light: {}
+background: []
+rigid_object: []
+rigid_object_group: []
+articulation: []
+physics: newton

policies/anymal-c-flat-ppo-newton/configs/train.yaml

@@ -0,0 +1,58 @@
+trainer:
+  exp_name: anymal_c_flat_ppo_newton
+  gym_config: env.yaml
+  seed: 42
+  device: cuda:0
+  headless: true
+  renderer: fast-rt
+  num_envs: 4
+  iterations: 500
+  buffer_size: 24
+  enable_eval: false
+  save_frequency_updates: 50
+  use_wandb: false
+  wandb_project_name: embodichain-locomotion
+policy:
+  name: actor_critic
+  obs_groups:
+    actor:
+    - policy
+    critic:
+    - critic
+  actor:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 128
+      - 128
+      - 128
+      activation: elu
+  critic:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 128
+      - 128
+      - 128
+      activation: elu
+  initial_action_std: 1.0
+algorithm:
+  name: ppo
+  cfg:
+    optimizer:
+      name: adam
+      learning_rate: 0.001
+    schedule: adaptive
+    desired_kl: 0.01
+    minimum_learning_rate: 1.0e-05
+    maximum_learning_rate: 0.01
+    n_epochs: 5
+    num_mini_batches: 4
+    batch_size: 24576
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_coef: 0.2
+    ent_coef: 0.005
+    vf_coef: 1.0
+    use_clipped_value_loss: true
+    max_grad_norm: 1.0

policies/anymal-c-flat-ppo-newton/evaluation.json

@@ -0,0 +1,63 @@
+{
+  "schema_version": 1,
+  "model_id": "anymal-c-flat-ppo-newton",
+  "evidence_kind": "prior_source_policy_evaluation",
+  "created_at": "2026-09-23T02:15:08.583317+00:00",
+  "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+  "runtime": {
+    "dexsim": "development build",
+    "public_wheel_validated": false,
+    "torch": "2.10.0+cu128",
+    "newton": "1.6.0"
+  },
+  "conditions": {
+    "seed": 10042,
+    "renderer": "fast-rt",
+    "task_id": "ANYmalCFlatRL-v1",
+    "physics": "newton",
+    "command": [
+      0.3,
+      0.0,
+      0.0
+    ],
+    "mode": "viewer"
+  },
+  "exit_code": 0,
+  "result": {
+    "control_steps": 1000,
+    "effective_duration": 20.0,
+    "episodes": [
+      {
+        "index": 0,
+        "length": 1000,
+        "reason": "time limit",
+        "reward": 27.580372218042612,
+        "success": false
+      }
+    ],
+    "metrics": {
+      "eval/avg_length": 1000.0,
+      "eval/avg_reward": 27.580372218042612,
+      "eval/success_rate": 0.0,
+      "linear_velocity_error": 0.026869812980294228,
+      "reward": 0.02956734225153923,
+      "root_height": 0.5411861538887024,
+      "yaw_rate_error": 0.045531656593084335
+    },
+    "reason": "control steps reached",
+    "requested_duration": 20.0,
+    "simulation_steps": 4000,
+    "simulation_time": 20.0
+  },
+  "limits": [
+    "This summarizes the earlier source-policy evaluation, not a new evaluation of this staged bundle.",
+    "A cached robot asset and a development simulation runtime were used.",
+    "A clean-cache evaluation using publicly installable dependencies is pending.",
+    "Velocity tasks have no terminal success goal; time-limit episodes are not failures."
+  ],
+  "checkpoint_metadata": {
+    "global_step": 49152000,
+    "num_updates": 500,
+    "best_eval_value": null
+  }
+}

policies/anymal-c-flat-ppo-newton/run-manifest.json

@@ -0,0 +1,11 @@
+{
+  "schema_version": 1,
+  "configs": {
+    "train": "configs/train.yaml",
+    "gym": "configs/env.yaml"
+  },
+  "checkpoints": {
+    "latest": "checkpoint.pt",
+    "best": null
+  }
+}

policies/g1-flat-ppo-default/checkpoint.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f720c775e9d026b007a854b4231af077a608f0ca5f392d523795257edd1165a3
+size 5325649

policies/g1-flat-ppo-default/configs/env.yaml

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+physics: default
+id: UnitreeG1FlatRL-v1
+max_episode_steps: 1000
+num_envs: 8
+scene_node_capacity: 262144
+headless: true
+device: cuda:0
+arena_space: 2.5
+render_cfg:
+  renderer: fast-rt
+physics_config:
+  cache_material: true
+  gravity:
+  - 0.0
+  - 0.0
+  - -9.81
+  physics_dt: 0.005
+env:
+  sim_steps_per_control: 4
+  control_parts:
+  - locomotion
+  events:
+    push_robot:
+      func: push_articulation_by_setting_velocity
+      mode: interval
+      interval_step: 1
+      is_global: false
+      params:
+        entity_cfg:
+          uid: robot
+        interval_range_s:
+        - 5.0
+        - 6.0
+        velocity_range:
+          x:
+          - -0.5
+          - 0.5
+          y:
+          - -0.5
+          - 0.5
+          z:
+          - -0.4
+          - 0.4
+          roll:
+          - -0.52
+          - 0.52
+          pitch:
+          - -0.52
+          - 0.52
+          yaw:
+          - -0.78
+          - 0.78
+  observations:
+    policy:
+      func: velocity_locomotion_observation
+      mode: add
+      name: policy
+      params:
+        privileged: false
+        enable_corruption: true
+    critic:
+      func: velocity_locomotion_observation
+      mode: add
+      name: critic
+      params:
+        privileged: true
+        enable_corruption: false
+  rewards:
+    total:
+      func: velocity_locomotion_total_reward
+      mode: add
+      weight: 1.0
+      params: {}
+  actions:
+    joint_position:
+      func: DefaultJointPositionTerm
+      params: {}
+  extensions: {}
+robot:
+  uid: robot
+  fpath: UnitreeG1Locomotion/g1.usda
+  build_pk_chain: false
+  init_pos:
+  - 0.0
+  - 0.0
+  - 0.8
+  init_qpos:
+  - -0.1
+  - -0.1
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.3
+  - 0.3
+  - 0.35
+  - 0.35
+  - -0.2
+  - -0.2
+  - 0.18
+  - -0.18
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.87
+  - 0.87
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  control_parts:
+    locomotion:
+    - left_hip_pitch_joint
+    - left_hip_roll_joint
+    - left_hip_yaw_joint
+    - left_knee_joint
+    - left_ankle_pitch_joint
+    - left_ankle_roll_joint
+    - right_hip_pitch_joint
+    - right_hip_roll_joint
+    - right_hip_yaw_joint
+    - right_knee_joint
+    - right_ankle_pitch_joint
+    - right_ankle_roll_joint
+    - waist_yaw_joint
+    - waist_roll_joint
+    - waist_pitch_joint
+    - left_shoulder_pitch_joint
+    - left_shoulder_roll_joint
+    - left_shoulder_yaw_joint
+    - left_elbow_joint
+    - left_wrist_roll_joint
+    - left_wrist_pitch_joint
+    - left_wrist_yaw_joint
+    - right_shoulder_pitch_joint
+    - right_shoulder_roll_joint
+    - right_shoulder_yaw_joint
+    - right_elbow_joint
+    - right_wrist_roll_joint
+    - right_wrist_pitch_joint
+    - right_wrist_yaw_joint
+  asset_physics_mode: overlay
+  root_props:
+    fixed_base: false
+    self_collision_enabled: true
+    min_position_iters: 8
+    min_velocity_iters: 4
+sensor:
+- uid: locomotion_contacts
+  sensor_type: ContactSensor
+  articulation_cfg_list:
+  - articulation_uid: robot
+    link_name_list: []
+  filter_need_both_actor: false
+  max_contacts_per_env: 192
+light: {}
+background: []
+rigid_object: []
+rigid_object_group: []
+articulation: []

policies/g1-flat-ppo-default/configs/train.yaml

@@ -0,0 +1,60 @@
+trainer:
+  exp_name: unitree_g1_flat_ppo
+  gym_config: env.yaml
+  seed: 42
+  device: cuda:0
+  headless: true
+  renderer: fast-rt
+  num_envs: 4
+  iterations: 10001
+  buffer_size: 24
+  enable_eval: false
+  save_frequency_updates: 100
+  use_wandb: false
+  wandb_project_name: embodichain-locomotion
+policy:
+  name: actor_critic
+  actor_obs_normalization: true
+  critic_obs_normalization: true
+  obs_groups:
+    actor:
+    - policy
+    critic:
+    - critic
+  actor:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 512
+      - 256
+      - 128
+      activation: elu
+  critic:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 512
+      - 256
+      - 128
+      activation: elu
+  initial_action_std: 1.0
+algorithm:
+  name: ppo
+  cfg:
+    optimizer:
+      name: adam
+      learning_rate: 0.001
+    schedule: adaptive
+    desired_kl: 0.01
+    minimum_learning_rate: 1.0e-05
+    maximum_learning_rate: 0.01
+    n_epochs: 5
+    num_mini_batches: 4
+    batch_size: 24576
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_coef: 0.2
+    ent_coef: 0.01
+    vf_coef: 1.0
+    use_clipped_value_loss: true
+    max_grad_norm: 1.0

policies/g1-flat-ppo-default/evaluation.json

@@ -0,0 +1,63 @@
+{
+  "schema_version": 1,
+  "model_id": "g1-flat-ppo-default",
+  "evidence_kind": "prior_source_policy_evaluation",
+  "created_at": "2026-09-23T02:20:38.667324+00:00",
+  "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+  "runtime": {
+    "dexsim": "development build",
+    "public_wheel_validated": false,
+    "torch": "2.10.0+cu128",
+    "newton": null
+  },
+  "conditions": {
+    "seed": 10042,
+    "renderer": "fast-rt",
+    "task_id": "UnitreeG1FlatRL-v1",
+    "physics": "default",
+    "command": [
+      0.3,
+      0.0,
+      0.0
+    ],
+    "mode": "viewer"
+  },
+  "exit_code": 0,
+  "result": {
+    "control_steps": 1000,
+    "effective_duration": 20.0,
+    "episodes": [
+      {
+        "index": 0,
+        "length": 1000,
+        "reason": "time limit",
+        "reward": 62.56870224373415,
+        "success": false
+      }
+    ],
+    "metrics": {
+      "eval/avg_length": 1000.0,
+      "eval/avg_reward": 62.56870224373415,
+      "eval/success_rate": 0.0,
+      "linear_velocity_error": 0.03544675558805466,
+      "reward": 0.06573096662759781,
+      "root_height": 0.786207914352417,
+      "yaw_rate_error": 0.07288753241300583
+    },
+    "reason": "control steps reached",
+    "requested_duration": 20.0,
+    "simulation_steps": 4000,
+    "simulation_time": 20.0
+  },
+  "limits": [
+    "This summarizes the earlier source-policy evaluation, not a new evaluation of this staged bundle.",
+    "A cached robot asset and a development simulation runtime were used.",
+    "A clean-cache evaluation using publicly installable dependencies is pending.",
+    "Velocity tasks have no terminal success goal; time-limit episodes are not failures."
+  ],
+  "checkpoint_metadata": {
+    "global_step": 196608000,
+    "num_updates": 2000,
+    "best_eval_value": null
+  }
+}

policies/g1-flat-ppo-default/run-manifest.json

@@ -0,0 +1,11 @@
+{
+  "schema_version": 1,
+  "configs": {
+    "train": "configs/train.yaml",
+    "gym": "configs/env.yaml"
+  },
+  "checkpoints": {
+    "latest": "checkpoint.pt",
+    "best": null
+  }
+}

policies/g1-flat-ppo-newton/checkpoint.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9d1ec15e9905939f40eaa84763874c05b070d70afaeb7c84b09bd3b712d48f05
+size 5325731

policies/g1-flat-ppo-newton/configs/env.yaml

@@ -0,0 +1,176 @@
+physics: newton
+id: UnitreeG1FlatRL-v1
+max_episode_steps: 1000
+num_envs: 8
+scene_node_capacity: 262144
+headless: true
+device: cuda:0
+arena_space: 2.5
+render_cfg:
+  renderer: fast-rt
+physics_config:
+  sync_to_renderer: false
+  gravity:
+  - 0.0
+  - 0.0
+  - -9.81
+  num_substeps: 1
+  solver_cfg:
+    solver_type: mujoco_warp
+    njmax: 1024
+    nconmax: 256
+    iterations: 10
+    ls_iterations: 50
+    integrator: implicitfast
+    separate_worlds: true
+    tolerance: 1.0e-08
+  physics_dt: 0.005
+env:
+  sim_steps_per_control: 4
+  control_parts:
+  - locomotion
+  events:
+    push_robot:
+      func: push_articulation_by_setting_velocity
+      mode: interval
+      interval_step: 1
+      is_global: false
+      params:
+        entity_cfg:
+          uid: robot
+        interval_range_s:
+        - 5.0
+        - 6.0
+        velocity_range:
+          x:
+          - -0.5
+          - 0.5
+          y:
+          - -0.5
+          - 0.5
+          z:
+          - -0.4
+          - 0.4
+          roll:
+          - -0.52
+          - 0.52
+          pitch:
+          - -0.52
+          - 0.52
+          yaw:
+          - -0.78
+          - 0.78
+  observations:
+    policy:
+      func: velocity_locomotion_observation
+      mode: add
+      name: policy
+      params:
+        privileged: false
+        enable_corruption: true
+    critic:
+      func: velocity_locomotion_observation
+      mode: add
+      name: critic
+      params:
+        privileged: true
+        enable_corruption: false
+  rewards:
+    total:
+      func: velocity_locomotion_total_reward
+      mode: add
+      weight: 1.0
+      params: {}
+  actions:
+    joint_position:
+      func: DefaultJointPositionTerm
+      params: {}
+  extensions: {}
+robot:
+  uid: robot
+  fpath: UnitreeG1Locomotion/g1.usda
+  build_pk_chain: false
+  init_pos:
+  - 0.0
+  - 0.0
+  - 0.8
+  init_qpos:
+  - -0.1
+  - -0.1
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.3
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+  - 0.35
+  - -0.2
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+  - 0.18
+  - -0.18
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.87
+  - 0.87
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  control_parts:
+    locomotion:
+    - left_hip_pitch_joint
+    - left_hip_roll_joint
+    - left_hip_yaw_joint
+    - left_knee_joint
+    - left_ankle_pitch_joint
+    - left_ankle_roll_joint
+    - right_hip_pitch_joint
+    - right_hip_roll_joint
+    - right_hip_yaw_joint
+    - right_knee_joint
+    - right_ankle_pitch_joint
+    - right_ankle_roll_joint
+    - waist_yaw_joint
+    - waist_roll_joint
+    - waist_pitch_joint
+    - left_shoulder_pitch_joint
+    - left_shoulder_roll_joint
+    - left_shoulder_yaw_joint
+    - left_elbow_joint
+    - left_wrist_roll_joint
+    - left_wrist_pitch_joint
+    - left_wrist_yaw_joint
+    - right_shoulder_pitch_joint
+    - right_shoulder_roll_joint
+    - right_shoulder_yaw_joint
+    - right_elbow_joint
+    - right_wrist_roll_joint
+    - right_wrist_pitch_joint
+    - right_wrist_yaw_joint
+  asset_physics_mode: overlay
+  root_props:
+    fixed_base: false
+    self_collision_enabled: true
+    min_position_iters: 8
+    min_velocity_iters: 4
+sensor:
+- uid: locomotion_contacts
+  sensor_type: ContactSensor
+  articulation_cfg_list:
+  - articulation_uid: robot
+    link_name_list: []
+  filter_need_both_actor: false
+  max_contacts_per_env: 192
+light: {}
+background: []
+rigid_object: []
+rigid_object_group: []
+articulation: []

policies/g1-flat-ppo-newton/configs/train.yaml

@@ -0,0 +1,60 @@
+trainer:
+  exp_name: unitree_g1_flat_ppo_newton
+  gym_config: env.yaml
+  seed: 42
+  device: cuda:0
+  headless: true
+  renderer: fast-rt
+  num_envs: 4
+  iterations: 10001
+  buffer_size: 24
+  enable_eval: false
+  save_frequency_updates: 100
+  use_wandb: false
+  wandb_project_name: embodichain-locomotion
+policy:
+  name: actor_critic
+  actor_obs_normalization: true
+  critic_obs_normalization: true
+  obs_groups:
+    actor:
+    - policy
+    critic:
+    - critic
+  actor:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 512
+      - 256
+      - 128
+      activation: elu
+  critic:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 512
+      - 256
+      - 128
+      activation: elu
+  initial_action_std: 1.0
+algorithm:
+  name: ppo
+  cfg:
+    optimizer:
+      name: adam
+      learning_rate: 0.001
+    schedule: adaptive
+    desired_kl: 0.01
+    minimum_learning_rate: 1.0e-05
+    maximum_learning_rate: 0.01
+    n_epochs: 5
+    num_mini_batches: 4
+    batch_size: 24576
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_coef: 0.2
+    ent_coef: 0.01
+    vf_coef: 1.0
+    use_clipped_value_loss: true
+    max_grad_norm: 1.0

policies/g1-flat-ppo-newton/evaluation.json

@@ -0,0 +1,63 @@
+{
+  "schema_version": 1,
+  "model_id": "g1-flat-ppo-newton",
+  "evidence_kind": "prior_source_policy_evaluation",
+  "created_at": "2026-09-23T02:16:07.647394+00:00",
+  "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+  "runtime": {
+    "dexsim": "development build",
+    "public_wheel_validated": false,
+    "torch": "2.10.0+cu128",
+    "newton": "1.6.0"
+  },
+  "conditions": {
+    "seed": 10042,
+    "renderer": "fast-rt",
+    "task_id": "UnitreeG1FlatRL-v1",
+    "physics": "newton",
+    "command": [
+      0.3,
+      0.0,
+      0.0
+    ],
+    "mode": "viewer"
+  },
+  "exit_code": 0,
+  "result": {
+    "control_steps": 1000,
+    "effective_duration": 20.0,
+    "episodes": [
+      {
+        "index": 0,
+        "length": 1000,
+        "reason": "time limit",
+        "reward": 61.99140815157443,
+        "success": false
+      }
+    ],
+    "metrics": {
+      "eval/avg_length": 1000.0,
+      "eval/avg_reward": 61.99140815157443,
+      "eval/success_rate": 0.0,
+      "linear_velocity_error": 0.06406232714653015,
+      "reward": 0.06581515818834305,
+      "root_height": 0.7908007502555847,
+      "yaw_rate_error": 0.03285869583487511
+    },
+    "reason": "control steps reached",
+    "requested_duration": 20.0,
+    "simulation_steps": 4000,
+    "simulation_time": 20.0
+  },
+  "limits": [
+    "This summarizes the earlier source-policy evaluation, not a new evaluation of this staged bundle.",
+    "A cached robot asset and a development simulation runtime were used.",
+    "A clean-cache evaluation using publicly installable dependencies is pending.",
+    "Velocity tasks have no terminal success goal; time-limit episodes are not failures."
+  ],
+  "checkpoint_metadata": {
+    "global_step": 206438400,
+    "num_updates": 2100,
+    "best_eval_value": null
+  }
+}

policies/g1-flat-ppo-newton/run-manifest.json

@@ -0,0 +1,11 @@
+{
+  "schema_version": 1,
+  "configs": {
+    "train": "configs/train.yaml",
+    "gym": "configs/env.yaml"
+  },
+  "checkpoints": {
+    "latest": "checkpoint.pt",
+    "best": null
+  }
+}

policies/go1-flat-ppo-default/checkpoint.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d934d0e2de75eb6dba23e86a5cb0dcc58f8cfde69fc02af732638d5bfd3cd95c
+size 4739089

policies/go1-flat-ppo-default/configs/env.yaml

@@ -0,0 +1,132 @@
+physics: default
+id: UnitreeGo1FlatRL-v1
+max_episode_steps: 1000
+num_envs: 8
+scene_node_capacity: 262144
+headless: true
+device: cuda:0
+arena_space: 2.0
+render_cfg:
+  renderer: fast-rt
+physics_config:
+  cache_material: true
+  gravity:
+  - 0.0
+  - 0.0
+  - -9.81
+  physics_dt: 0.005
+env:
+  sim_steps_per_control: 4
+  control_parts:
+  - locomotion
+  events:
+    push_robot:
+      func: push_articulation_by_setting_velocity
+      mode: interval
+      interval_step: 1
+      is_global: false
+      params:
+        entity_cfg:
+          uid: robot
+        interval_range_s:
+        - 1.0
+        - 3.0
+        velocity_range:
+          x:
+          - -0.5
+          - 0.5
+          y:
+          - -0.5
+          - 0.5
+          z:
+          - -0.4
+          - 0.4
+          roll:
+          - -0.52
+          - 0.52
+          pitch:
+          - -0.52
+          - 0.52
+          yaw:
+          - -0.78
+          - 0.78
+  observations:
+    policy:
+      func: velocity_locomotion_observation
+      mode: add
+      name: policy
+      params:
+        privileged: false
+        enable_corruption: true
+    critic:
+      func: velocity_locomotion_observation
+      mode: add
+      name: critic
+      params:
+        privileged: true
+        enable_corruption: false
+  rewards:
+    total:
+      func: velocity_locomotion_total_reward
+      mode: add
+      weight: 1.0
+      params: {}
+  actions:
+    joint_position:
+      func: DefaultJointPositionTerm
+      params: {}
+  extensions: {}
+robot:
+  uid: robot
+  fpath: UnitreeGo1Locomotion/go1.usda
+  build_pk_chain: false
+  init_pos:
+  - 0.0
+  - 0.0
+  - 0.278
+  init_qpos:
+  - -0.1
+  - 0.1
+  - -0.1
+  - 0.1
+  - 0.9
+  - 0.9
+  - 0.9
+  - 0.9
+  - -1.8
+  - -1.8
+  - -1.8
+  - -1.8
+  control_parts:
+    locomotion:
+    - FR_hip_joint
+    - FR_thigh_joint
+    - FR_calf_joint
+    - FL_hip_joint
+    - FL_thigh_joint
+    - FL_calf_joint
+    - RR_hip_joint
+    - RR_thigh_joint
+    - RR_calf_joint
+    - RL_hip_joint
+    - RL_thigh_joint
+    - RL_calf_joint
+  asset_physics_mode: overlay
+  root_props:
+    fixed_base: false
+    self_collision_enabled: false
+    min_position_iters: 4
+    min_velocity_iters: 0
+sensor:
+- uid: locomotion_contacts
+  sensor_type: ContactSensor
+  articulation_cfg_list:
+  - articulation_uid: robot
+    link_name_list: []
+  filter_need_both_actor: false
+  max_contacts_per_env: 96
+light: {}
+background: []
+rigid_object: []
+rigid_object_group: []
+articulation: []

policies/go1-flat-ppo-default/configs/train.yaml

@@ -0,0 +1,60 @@
+trainer:
+  exp_name: unitree_go1_flat_ppo
+  gym_config: env.yaml
+  seed: 42
+  device: cuda:0
+  headless: true
+  renderer: fast-rt
+  num_envs: 4
+  iterations: 10000
+  buffer_size: 24
+  enable_eval: false
+  save_frequency_updates: 50
+  use_wandb: false
+  wandb_project_name: embodichain-locomotion
+policy:
+  name: actor_critic
+  actor_obs_normalization: true
+  critic_obs_normalization: true
+  obs_groups:
+    actor:
+    - policy
+    critic:
+    - critic
+  actor:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 512
+      - 256
+      - 128
+      activation: elu
+  critic:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 512
+      - 256
+      - 128
+      activation: elu
+  initial_action_std: 1.0
+algorithm:
+  name: ppo
+  cfg:
+    optimizer:
+      name: adam
+      learning_rate: 0.001
+    schedule: adaptive
+    desired_kl: 0.01
+    minimum_learning_rate: 1.0e-05
+    maximum_learning_rate: 0.01
+    n_epochs: 5
+    num_mini_batches: 4
+    batch_size: 24576
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_coef: 0.2
+    ent_coef: 0.01
+    vf_coef: 1.0
+    use_clipped_value_loss: true
+    max_grad_norm: 1.0

policies/go1-flat-ppo-default/evaluation.json

@@ -0,0 +1,64 @@
+{
+  "schema_version": 1,
+  "model_id": "go1-flat-ppo-default",
+  "evidence_kind": "prior_source_policy_evaluation",
+  "created_at": "2026-09-23T02:21:27.110398+00:00",
+  "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+  "runtime": {
+    "dexsim": "development build",
+    "public_wheel_validated": false,
+    "torch": "2.10.0+cu128",
+    "newton": null
+  },
+  "conditions": {
+    "seed": 10042,
+    "renderer": "fast-rt",
+    "task_id": "UnitreeGo1FlatRL-v1",
+    "physics": "default",
+    "command": [
+      0.3,
+      0.0,
+      0.0
+    ],
+    "mode": "viewer"
+  },
+  "exit_code": 0,
+  "result": {
+    "control_steps": 1000,
+    "effective_duration": 20.0,
+    "episodes": [
+      {
+        "index": 0,
+        "length": 1000,
+        "reason": "time limit",
+        "reward": 110.90168414264917,
+        "success": false
+      }
+    ],
+    "metrics": {
+      "eval/avg_length": 1000.0,
+      "eval/avg_reward": 110.90168414264917,
+      "eval/success_rate": 0.0,
+      "linear_velocity_error": 0.14509788155555725,
+      "maximum_illegal_contact_force": 0.0,
+      "reward": 0.09589947015047073,
+      "root_height": 0.29751354455947876,
+      "yaw_rate_error": 0.20959775149822235
+    },
+    "reason": "control steps reached",
+    "requested_duration": 20.0,
+    "simulation_steps": 4000,
+    "simulation_time": 20.0
+  },
+  "limits": [
+    "This summarizes the earlier source-policy evaluation, not a new evaluation of this staged bundle.",
+    "A cached robot asset and a development simulation runtime were used.",
+    "A clean-cache evaluation using publicly installable dependencies is pending.",
+    "Velocity tasks have no terminal success goal; time-limit episodes are not failures."
+  ],
+  "checkpoint_metadata": {
+    "global_step": 68812800,
+    "num_updates": 700,
+    "best_eval_value": null
+  }
+}

policies/go1-flat-ppo-default/run-manifest.json

@@ -0,0 +1,11 @@
+{
+  "schema_version": 1,
+  "configs": {
+    "train": "configs/train.yaml",
+    "gym": "configs/env.yaml"
+  },
+  "checkpoints": {
+    "latest": "checkpoint.pt",
+    "best": null
+  }
+}

policies/go1-flat-ppo-newton/checkpoint.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb2d62d05b56892cbfa8d2e69f4e45a9f2eb5ce23b3f50495f49cdcebc9e618c
+size 4739171

policies/go1-flat-ppo-newton/configs/env.yaml

@@ -0,0 +1,142 @@
+physics: newton
+id: UnitreeGo1FlatRL-v1
+max_episode_steps: 1000
+num_envs: 8
+scene_node_capacity: 262144
+headless: true
+device: cuda:0
+arena_space: 2.0
+render_cfg:
+  renderer: fast-rt
+physics_config:
+  sync_to_renderer: false
+  gravity:
+  - 0.0
+  - 0.0
+  - -9.81
+  num_substeps: 1
+  solver_cfg:
+    solver_type: mujoco_warp
+    njmax: 1024
+    nconmax: 256
+    iterations: 10
+    ls_iterations: 50
+    integrator: implicitfast
+    separate_worlds: true
+    tolerance: 1.0e-08
+  physics_dt: 0.005
+env:
+  sim_steps_per_control: 4
+  control_parts:
+  - locomotion
+  events:
+    push_robot:
+      func: push_articulation_by_setting_velocity
+      mode: interval
+      interval_step: 1
+      is_global: false
+      params:
+        entity_cfg:
+          uid: robot
+        interval_range_s:
+        - 1.0
+        - 3.0
+        velocity_range:
+          x:
+          - -0.5
+          - 0.5
+          y:
+          - -0.5
+          - 0.5
+          z:
+          - -0.4
+          - 0.4
+          roll:
+          - -0.52
+          - 0.52
+          pitch:
+          - -0.52
+          - 0.52
+          yaw:
+          - -0.78
+          - 0.78
+  observations:
+    policy:
+      func: velocity_locomotion_observation
+      mode: add
+      name: policy
+      params:
+        privileged: false
+        enable_corruption: true
+    critic:
+      func: velocity_locomotion_observation
+      mode: add
+      name: critic
+      params:
+        privileged: true
+        enable_corruption: false
+  rewards:
+    total:
+      func: velocity_locomotion_total_reward
+      mode: add
+      weight: 1.0
+      params: {}
+  actions:
+    joint_position:
+      func: DefaultJointPositionTerm
+      params: {}
+  extensions: {}
+robot:
+  uid: robot
+  fpath: UnitreeGo1Locomotion/go1.usda
+  build_pk_chain: false
+  init_pos:
+  - 0.0
+  - 0.0
+  - 0.278
+  init_qpos:
+  - -0.1
+  - 0.1
+  - -0.1
+  - 0.1
+  - 0.9
+  - 0.9
+  - 0.9
+  - 0.9
+  - -1.8
+  - -1.8
+  - -1.8
+  - -1.8
+  control_parts:
+    locomotion:
+    - FR_hip_joint
+    - FR_thigh_joint
+    - FR_calf_joint
+    - FL_hip_joint
+    - FL_thigh_joint
+    - FL_calf_joint
+    - RR_hip_joint
+    - RR_thigh_joint
+    - RR_calf_joint
+    - RL_hip_joint
+    - RL_thigh_joint
+    - RL_calf_joint
+  asset_physics_mode: overlay
+  root_props:
+    fixed_base: false
+    self_collision_enabled: false
+    min_position_iters: 4
+    min_velocity_iters: 0
+sensor:
+- uid: locomotion_contacts
+  sensor_type: ContactSensor
+  articulation_cfg_list:
+  - articulation_uid: robot
+    link_name_list: []
+  filter_need_both_actor: false
+  max_contacts_per_env: 96
+light: {}
+background: []
+rigid_object: []
+rigid_object_group: []
+articulation: []

policies/go1-flat-ppo-newton/configs/train.yaml

@@ -0,0 +1,60 @@
+trainer:
+  exp_name: unitree_go1_flat_ppo_newton
+  gym_config: env.yaml
+  seed: 42
+  device: cuda:0
+  headless: true
+  renderer: fast-rt
+  num_envs: 4
+  iterations: 10000
+  buffer_size: 24
+  enable_eval: false
+  save_frequency_updates: 50
+  use_wandb: false
+  wandb_project_name: embodichain-locomotion
+policy:
+  name: actor_critic
+  actor_obs_normalization: true
+  critic_obs_normalization: true
+  obs_groups:
+    actor:
+    - policy
+    critic:
+    - critic
+  actor:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 512
+      - 256
+      - 128
+      activation: elu
+  critic:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 512
+      - 256
+      - 128
+      activation: elu
+  initial_action_std: 1.0
+algorithm:
+  name: ppo
+  cfg:
+    optimizer:
+      name: adam
+      learning_rate: 0.001
+    schedule: adaptive
+    desired_kl: 0.01
+    minimum_learning_rate: 1.0e-05
+    maximum_learning_rate: 0.01
+    n_epochs: 5
+    num_mini_batches: 4
+    batch_size: 24576
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_coef: 0.2
+    ent_coef: 0.01
+    vf_coef: 1.0
+    use_clipped_value_loss: true
+    max_grad_norm: 1.0

policies/go1-flat-ppo-newton/evaluation.json

@@ -0,0 +1,64 @@
+{
+  "schema_version": 1,
+  "model_id": "go1-flat-ppo-newton",
+  "evidence_kind": "prior_source_policy_evaluation",
+  "created_at": "2026-09-23T02:17:09.194399+00:00",
+  "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+  "runtime": {
+    "dexsim": "development build",
+    "public_wheel_validated": false,
+    "torch": "2.10.0+cu128",
+    "newton": "1.6.0"
+  },
+  "conditions": {
+    "seed": 10042,
+    "renderer": "fast-rt",
+    "task_id": "UnitreeGo1FlatRL-v1",
+    "physics": "newton",
+    "command": [
+      0.3,
+      0.0,
+      0.0
+    ],
+    "mode": "viewer"
+  },
+  "exit_code": 0,
+  "result": {
+    "control_steps": 1000,
+    "effective_duration": 20.0,
+    "episodes": [
+      {
+        "index": 0,
+        "length": 1000,
+        "reason": "time limit",
+        "reward": 109.75560356676579,
+        "success": false
+      }
+    ],
+    "metrics": {
+      "eval/avg_length": 1000.0,
+      "eval/avg_reward": 109.75560356676579,
+      "eval/success_rate": 0.0,
+      "linear_velocity_error": 0.1238803118467331,
+      "maximum_illegal_contact_force": 0.0,
+      "reward": 0.11315512657165527,
+      "root_height": 0.295845627784729,
+      "yaw_rate_error": 0.029608920216560364
+    },
+    "reason": "control steps reached",
+    "requested_duration": 20.0,
+    "simulation_steps": 4000,
+    "simulation_time": 20.0
+  },
+  "limits": [
+    "This summarizes the earlier source-policy evaluation, not a new evaluation of this staged bundle.",
+    "A cached robot asset and a development simulation runtime were used.",
+    "A clean-cache evaluation using publicly installable dependencies is pending.",
+    "Velocity tasks have no terminal success goal; time-limit episodes are not failures."
+  ],
+  "checkpoint_metadata": {
+    "global_step": 39321600,
+    "num_updates": 400,
+    "best_eval_value": null
+  }
+}

policies/go1-flat-ppo-newton/run-manifest.json

@@ -0,0 +1,11 @@
+{
+  "schema_version": 1,
+  "configs": {
+    "train": "configs/train.yaml",
+    "gym": "configs/env.yaml"
+  },
+  "checkpoints": {
+    "latest": "checkpoint.pt",
+    "best": null
+  }
+}

policies/go2-flat-ppo-default/checkpoint.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce2a67c411ff63c0464e5ea98e1f5281f661d5e3817d0bcb6dd24b225749d6b1
+size 4745233

policies/go2-flat-ppo-default/configs/env.yaml

@@ -0,0 +1,132 @@
+physics: default
+id: UnitreeGo2FlatRL-v1
+max_episode_steps: 1000
+num_envs: 8
+scene_node_capacity: 262144
+headless: true
+device: cuda:0
+arena_space: 2.0
+render_cfg:
+  renderer: fast-rt
+physics_config:
+  cache_material: true
+  gravity:
+  - 0.0
+  - 0.0
+  - -9.81
+  physics_dt: 0.005
+env:
+  sim_steps_per_control: 4
+  control_parts:
+  - locomotion
+  events:
+    push_robot:
+      func: push_articulation_by_setting_velocity
+      mode: interval
+      interval_step: 1
+      is_global: false
+      params:
+        entity_cfg:
+          uid: robot
+        interval_range_s:
+        - 5.0
+        - 6.0
+        velocity_range:
+          x:
+          - -0.5
+          - 0.5
+          y:
+          - -0.5
+          - 0.5
+          z:
+          - -0.4
+          - 0.4
+          roll:
+          - -0.52
+          - 0.52
+          pitch:
+          - -0.52
+          - 0.52
+          yaw:
+          - -0.78
+          - 0.78
+  observations:
+    policy:
+      func: velocity_locomotion_observation
+      mode: add
+      name: policy
+      params:
+        privileged: false
+        enable_corruption: true
+    critic:
+      func: velocity_locomotion_observation
+      mode: add
+      name: critic
+      params:
+        privileged: true
+        enable_corruption: false
+  rewards:
+    total:
+      func: velocity_locomotion_total_reward
+      mode: add
+      weight: 1.0
+      params: {}
+  actions:
+    joint_position:
+      func: DefaultJointPositionTerm
+      params: {}
+  extensions: {}
+robot:
+  uid: robot
+  fpath: UnitreeGo2Locomotion/go2.usda
+  build_pk_chain: false
+  init_pos:
+  - 0.0
+  - 0.0
+  - 0.32
+  init_qpos:
+  - -0.1
+  - 0.1
+  - -0.1
+  - 0.1
+  - 0.9
+  - 0.9
+  - 0.9
+  - 0.9
+  - -1.8
+  - -1.8
+  - -1.8
+  - -1.8
+  control_parts:
+    locomotion:
+    - FL_hip_joint
+    - FL_thigh_joint
+    - FL_calf_joint
+    - FR_hip_joint
+    - FR_thigh_joint
+    - FR_calf_joint
+    - RL_hip_joint
+    - RL_thigh_joint
+    - RL_calf_joint
+    - RR_hip_joint
+    - RR_thigh_joint
+    - RR_calf_joint
+  asset_physics_mode: overlay
+  root_props:
+    fixed_base: false
+    self_collision_enabled: false
+    min_position_iters: 4
+    min_velocity_iters: 0
+sensor:
+- uid: locomotion_contacts
+  sensor_type: ContactSensor
+  articulation_cfg_list:
+  - articulation_uid: robot
+    link_name_list: []
+  filter_need_both_actor: false
+  max_contacts_per_env: 96
+light: {}
+background: []
+rigid_object: []
+rigid_object_group: []
+articulation: []

policies/go2-flat-ppo-default/configs/train.yaml

@@ -0,0 +1,60 @@
+trainer:
+  exp_name: unitree_go2_flat_ppo
+  gym_config: env.yaml
+  seed: 42
+  device: cuda:0
+  headless: true
+  renderer: fast-rt
+  num_envs: 4
+  iterations: 10001
+  buffer_size: 24
+  enable_eval: false
+  save_frequency_updates: 100
+  use_wandb: false
+  wandb_project_name: embodichain-locomotion
+policy:
+  name: actor_critic
+  actor_obs_normalization: true
+  critic_obs_normalization: true
+  obs_groups:
+    actor:
+    - policy
+    critic:
+    - critic
+  actor:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 512
+      - 256
+      - 128
+      activation: elu
+  critic:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 512
+      - 256
+      - 128
+      activation: elu
+  initial_action_std: 1.0
+algorithm:
+  name: ppo
+  cfg:
+    optimizer:
+      name: adam
+      learning_rate: 0.001
+    schedule: adaptive
+    desired_kl: 0.01
+    minimum_learning_rate: 1.0e-05
+    maximum_learning_rate: 0.01
+    n_epochs: 5
+    num_mini_batches: 4
+    batch_size: 24576
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_coef: 0.2
+    ent_coef: 0.01
+    vf_coef: 1.0
+    use_clipped_value_loss: true
+    max_grad_norm: 1.0

policies/go2-flat-ppo-default/evaluation.json

@@ -0,0 +1,64 @@
+{
+  "schema_version": 1,
+  "model_id": "go2-flat-ppo-default",
+  "evidence_kind": "prior_source_policy_evaluation",
+  "created_at": "2026-09-23T02:22:07.574341+00:00",
+  "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+  "runtime": {
+    "dexsim": "development build",
+    "public_wheel_validated": false,
+    "torch": "2.10.0+cu128",
+    "newton": null
+  },
+  "conditions": {
+    "seed": 10042,
+    "renderer": "fast-rt",
+    "task_id": "UnitreeGo2FlatRL-v1",
+    "physics": "default",
+    "command": [
+      0.3,
+      0.0,
+      0.0
+    ],
+    "mode": "viewer"
+  },
+  "exit_code": 0,
+  "result": {
+    "control_steps": 1000,
+    "effective_duration": 20.0,
+    "episodes": [
+      {
+        "index": 0,
+        "length": 1000,
+        "reason": "time limit",
+        "reward": 65.62835970893502,
+        "success": false
+      }
+    ],
+    "metrics": {
+      "eval/avg_length": 1000.0,
+      "eval/avg_reward": 65.62835970893502,
+      "eval/success_rate": 0.0,
+      "linear_velocity_error": 0.06811629980802536,
+      "maximum_illegal_contact_force": 0.0,
+      "reward": 0.06804674863815308,
+      "root_height": 0.30811384320259094,
+      "yaw_rate_error": 0.03535405173897743
+    },
+    "reason": "control steps reached",
+    "requested_duration": 20.0,
+    "simulation_steps": 4000,
+    "simulation_time": 20.0
+  },
+  "limits": [
+    "This summarizes the earlier source-policy evaluation, not a new evaluation of this staged bundle.",
+    "A cached robot asset and a development simulation runtime were used.",
+    "A clean-cache evaluation using publicly installable dependencies is pending.",
+    "Velocity tasks have no terminal success goal; time-limit episodes are not failures."
+  ],
+  "checkpoint_metadata": {
+    "global_step": 88473600,
+    "num_updates": 900,
+    "best_eval_value": null
+  }
+}

policies/go2-flat-ppo-default/run-manifest.json

@@ -0,0 +1,11 @@
+{
+  "schema_version": 1,
+  "configs": {
+    "train": "configs/train.yaml",
+    "gym": "configs/env.yaml"
+  },
+  "checkpoints": {
+    "latest": "checkpoint.pt",
+    "best": null
+  }
+}

policies/go2-flat-ppo-newton/checkpoint.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:242c5900d9ac4e74b050ec291552386094e85454fcc786d2f0173df187817a26
+size 4745315

policies/go2-flat-ppo-newton/configs/env.yaml

@@ -0,0 +1,142 @@
+physics: newton
+id: UnitreeGo2FlatRL-v1
+max_episode_steps: 1000
+num_envs: 8
+scene_node_capacity: 262144
+headless: true
+device: cuda:0
+arena_space: 2.0
+render_cfg:
+  renderer: fast-rt
+physics_config:
+  sync_to_renderer: false
+  gravity:
+  - 0.0
+  - 0.0
+  - -9.81
+  num_substeps: 1
+  solver_cfg:
+    solver_type: mujoco_warp
+    njmax: 1024
+    nconmax: 256
+    iterations: 10
+    ls_iterations: 50
+    integrator: implicitfast
+    separate_worlds: true
+    tolerance: 1.0e-08
+  physics_dt: 0.005
+env:
+  sim_steps_per_control: 4
+  control_parts:
+  - locomotion
+  events:
+    push_robot:
+      func: push_articulation_by_setting_velocity
+      mode: interval
+      interval_step: 1
+      is_global: false
+      params:
+        entity_cfg:
+          uid: robot
+        interval_range_s:
+        - 5.0
+        - 6.0
+        velocity_range:
+          x:
+          - -0.5
+          - 0.5
+          y:
+          - -0.5
+          - 0.5
+          z:
+          - -0.4
+          - 0.4
+          roll:
+          - -0.52
+          - 0.52
+          pitch:
+          - -0.52
+          - 0.52
+          yaw:
+          - -0.78
+          - 0.78
+  observations:
+    policy:
+      func: velocity_locomotion_observation
+      mode: add
+      name: policy
+      params:
+        privileged: false
+        enable_corruption: true
+    critic:
+      func: velocity_locomotion_observation
+      mode: add
+      name: critic
+      params:
+        privileged: true
+        enable_corruption: false
+  rewards:
+    total:
+      func: velocity_locomotion_total_reward
+      mode: add
+      weight: 1.0
+      params: {}
+  actions:
+    joint_position:
+      func: DefaultJointPositionTerm
+      params: {}
+  extensions: {}
+robot:
+  uid: robot
+  fpath: UnitreeGo2Locomotion/go2.usda
+  build_pk_chain: false
+  init_pos:
+  - 0.0
+  - 0.0
+  - 0.32
+  init_qpos:
+  - -0.1
+  - 0.1
+  - -0.1
+  - 0.1
+  - 0.9
+  - 0.9
+  - 0.9
+  - 0.9
+  - -1.8
+  - -1.8
+  - -1.8
+  - -1.8
+  control_parts:
+    locomotion:
+    - FL_hip_joint
+    - FL_thigh_joint
+    - FL_calf_joint
+    - FR_hip_joint
+    - FR_thigh_joint
+    - FR_calf_joint
+    - RL_hip_joint
+    - RL_thigh_joint
+    - RL_calf_joint
+    - RR_hip_joint
+    - RR_thigh_joint
+    - RR_calf_joint
+  asset_physics_mode: overlay
+  root_props:
+    fixed_base: false
+    self_collision_enabled: false
+    min_position_iters: 4
+    min_velocity_iters: 0
+sensor:
+- uid: locomotion_contacts
+  sensor_type: ContactSensor
+  articulation_cfg_list:
+  - articulation_uid: robot
+    link_name_list: []
+  filter_need_both_actor: false
+  max_contacts_per_env: 96
+light: {}
+background: []
+rigid_object: []
+rigid_object_group: []
+articulation: []

policies/go2-flat-ppo-newton/configs/train.yaml

@@ -0,0 +1,60 @@
+trainer:
+  exp_name: unitree_go2_flat_ppo_newton
+  gym_config: env.yaml
+  seed: 42
+  device: cuda:0
+  headless: true
+  renderer: fast-rt
+  num_envs: 4
+  iterations: 10001
+  buffer_size: 24
+  enable_eval: false
+  save_frequency_updates: 100
+  use_wandb: false
+  wandb_project_name: embodichain-locomotion
+policy:
+  name: actor_critic
+  actor_obs_normalization: true
+  critic_obs_normalization: true
+  obs_groups:
+    actor:
+    - policy
+    critic:
+    - critic
+  actor:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 512
+      - 256
+      - 128
+      activation: elu
+  critic:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 512
+      - 256
+      - 128
+      activation: elu
+  initial_action_std: 1.0
+algorithm:
+  name: ppo
+  cfg:
+    optimizer:
+      name: adam
+      learning_rate: 0.001
+    schedule: adaptive
+    desired_kl: 0.01
+    minimum_learning_rate: 1.0e-05
+    maximum_learning_rate: 0.01
+    n_epochs: 5
+    num_mini_batches: 4
+    batch_size: 24576
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_coef: 0.2
+    ent_coef: 0.01
+    vf_coef: 1.0
+    use_clipped_value_loss: true
+    max_grad_norm: 1.0

policies/go2-flat-ppo-newton/evaluation.json

@@ -0,0 +1,64 @@
+{
+  "schema_version": 1,
+  "model_id": "go2-flat-ppo-newton",
+  "evidence_kind": "prior_source_policy_evaluation",
+  "created_at": "2026-09-23T02:17:55.903488+00:00",
+  "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+  "runtime": {
+    "dexsim": "development build",
+    "public_wheel_validated": false,
+    "torch": "2.10.0+cu128",
+    "newton": "1.6.0"
+  },
+  "conditions": {
+    "seed": 10042,
+    "renderer": "fast-rt",
+    "task_id": "UnitreeGo2FlatRL-v1",
+    "physics": "newton",
+    "command": [
+      0.3,
+      0.0,
+      0.0
+    ],
+    "mode": "viewer"
+  },
+  "exit_code": 0,
+  "result": {
+    "control_steps": 1000,
+    "effective_duration": 20.0,
+    "episodes": [
+      {
+        "index": 0,
+        "length": 1000,
+        "reason": "time limit",
+        "reward": 65.37921412661672,
+        "success": false
+      }
+    ],
+    "metrics": {
+      "eval/avg_length": 1000.0,
+      "eval/avg_reward": 65.37921412661672,
+      "eval/success_rate": 0.0,
+      "linear_velocity_error": 0.061211440712213516,
+      "maximum_illegal_contact_force": 0.0,
+      "reward": 0.06784547120332718,
+      "root_height": 0.30683282017707825,
+      "yaw_rate_error": 0.006454401649534702
+    },
+    "reason": "control steps reached",
+    "requested_duration": 20.0,
+    "simulation_steps": 4000,
+    "simulation_time": 20.0
+  },
+  "limits": [
+    "This summarizes the earlier source-policy evaluation, not a new evaluation of this staged bundle.",
+    "A cached robot asset and a development simulation runtime were used.",
+    "A clean-cache evaluation using publicly installable dependencies is pending.",
+    "Velocity tasks have no terminal success goal; time-limit episodes are not failures."
+  ],
+  "checkpoint_metadata": {
+    "global_step": 68812800,
+    "num_updates": 700,
+    "best_eval_value": null
+  }
+}

policies/go2-flat-ppo-newton/run-manifest.json

@@ -0,0 +1,11 @@
+{
+  "schema_version": 1,
+  "configs": {
+    "train": "configs/train.yaml",
+    "gym": "configs/env.yaml"
+  },
+  "checkpoints": {
+    "latest": "checkpoint.pt",
+    "best": null
+  }
+}

policies/h1-2-flat-ppo-default/checkpoint.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:0c109105da54e9159f97cae16282c29c9b0689a534395b5d1a1d2908b176d271
+size 5249013

policies/h1-2-flat-ppo-default/configs/env.yaml

@@ -0,0 +1,162 @@
+physics: default
+id: UnitreeH1_2FlatRL-v1
+max_episode_steps: 1000
+num_envs: 8
+scene_node_capacity: 262144
+headless: true
+device: cuda:0
+arena_space: 2.5
+render_cfg:
+  renderer: fast-rt
+physics_config:
+  cache_material: true
+  gravity:
+  - 0.0
+  - 0.0
+  - -9.81
+  physics_dt: 0.005
+env:
+  sim_steps_per_control: 4
+  control_parts:
+  - locomotion
+  events:
+    push_robot:
+      func: push_articulation_by_setting_velocity
+      mode: interval
+      interval_step: 1
+      is_global: false
+      params:
+        entity_cfg:
+          uid: robot
+        interval_range_s:
+        - 5.0
+        - 6.0
+        velocity_range:
+          x:
+          - -0.5
+          - 0.5
+          y:
+          - -0.5
+          - 0.5
+          z:
+          - -0.4
+          - 0.4
+          roll:
+          - -0.52
+          - 0.52
+          pitch:
+          - -0.52
+          - 0.52
+          yaw:
+          - -0.78
+          - 0.78
+  observations:
+    policy:
+      func: velocity_locomotion_observation
+      mode: add
+      name: policy
+      params:
+        privileged: false
+        enable_corruption: true
+    critic:
+      func: velocity_locomotion_observation
+      mode: add
+      name: critic
+      params:
+        privileged: true
+        enable_corruption: false
+  rewards:
+    total:
+      func: velocity_locomotion_total_reward
+      mode: add
+      weight: 1.0
+      params: {}
+  actions:
+    joint_position:
+      func: DefaultJointPositionTerm
+      params: {}
+  extensions: {}
+robot:
+  uid: robot
+  fpath: UnitreeH1_2Locomotion/h1_2.usda
+  build_pk_chain: false
+  init_pos:
+  - 0.0
+  - 0.0
+  - 1.02
+  init_qpos:
+  - 0.0
+  - 0.0
+  - 0.0
+  - -0.2
+  - -0.2
+  - 0.28
+  - 0.28
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.5
+  - 0.5
+  - 0.0
+  - 0.0
+  - -0.3
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+  - 0.52
+  - 0.52
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  control_parts:
+    locomotion:
+    - left_hip_yaw_joint
+    - left_hip_pitch_joint
+    - left_hip_roll_joint
+    - left_knee_joint
+    - left_ankle_pitch_joint
+    - left_ankle_roll_joint
+    - right_hip_yaw_joint
+    - right_hip_pitch_joint
+    - right_hip_roll_joint
+    - right_knee_joint
+    - right_ankle_pitch_joint
+    - right_ankle_roll_joint
+    - torso_joint
+    - left_shoulder_pitch_joint
+    - left_shoulder_roll_joint
+    - left_shoulder_yaw_joint
+    - left_elbow_joint
+    - left_wrist_roll_joint
+    - left_wrist_pitch_joint
+    - left_wrist_yaw_joint
+    - right_shoulder_pitch_joint
+    - right_shoulder_roll_joint
+    - right_shoulder_yaw_joint
+    - right_elbow_joint
+    - right_wrist_roll_joint
+    - right_wrist_pitch_joint
+    - right_wrist_yaw_joint
+  asset_physics_mode: overlay
+  root_props:
+    fixed_base: false
+    self_collision_enabled: true
+    min_position_iters: 4
+    min_velocity_iters: 4
+sensor:
+- uid: locomotion_contacts
+  sensor_type: ContactSensor
+  articulation_cfg_list:
+  - articulation_uid: robot
+    link_name_list: []
+  filter_need_both_actor: false
+  max_contacts_per_env: 192
+light: {}
+background: []
+rigid_object: []
+rigid_object_group: []
+articulation: []

policies/h1-2-flat-ppo-default/configs/train.yaml

@@ -0,0 +1,60 @@
+trainer:
+  exp_name: unitree_h1_2_flat_ppo
+  gym_config: env.yaml
+  seed: 42
+  device: cuda:0
+  headless: true
+  renderer: fast-rt
+  num_envs: 4
+  iterations: 10001
+  buffer_size: 24
+  enable_eval: false
+  save_frequency_updates: 100
+  use_wandb: false
+  wandb_project_name: embodichain-locomotion
+policy:
+  name: actor_critic
+  actor_obs_normalization: true
+  critic_obs_normalization: true
+  obs_groups:
+    actor:
+    - policy
+    critic:
+    - critic
+  actor:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 512
+      - 256
+      - 128
+      activation: elu
+  critic:
+    type: mlp
+    network_cfg:
+      hidden_sizes:
+      - 512
+      - 256
+      - 128
+      activation: elu
+  initial_action_std: 1.0
+algorithm:
+  name: ppo
+  cfg:
+    optimizer:
+      name: adam
+      learning_rate: 0.001
+    schedule: adaptive
+    desired_kl: 0.01
+    minimum_learning_rate: 1.0e-05
+    maximum_learning_rate: 0.01
+    n_epochs: 5
+    num_mini_batches: 4
+    batch_size: 24576
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_coef: 0.2
+    ent_coef: 0.01
+    vf_coef: 1.0
+    use_clipped_value_loss: true
+    max_grad_norm: 1.0

policies/h1-2-flat-ppo-default/evaluation.json

@@ -0,0 +1,63 @@
+{
+  "schema_version": 1,
+  "model_id": "h1-2-flat-ppo-default",
+  "evidence_kind": "prior_source_policy_evaluation",
+  "created_at": "2026-09-23T02:22:49.776090+00:00",
+  "embodichain_revision": "6f20b0603f784599201a7ee9b0d82a057d7c8bbf",
+  "runtime": {
+    "dexsim": "development build",
+    "public_wheel_validated": false,
+    "torch": "2.10.0+cu128",
+    "newton": null
+  },
+  "conditions": {
+    "seed": 10042,
+    "renderer": "fast-rt",
+    "task_id": "UnitreeH1_2FlatRL-v1",
+    "physics": "default",
+    "command": [
+      0.3,
+      0.0,
+      0.0
+    ],
+    "mode": "viewer"
+  },
+  "exit_code": 0,
+  "result": {
+    "control_steps": 1000,
+    "effective_duration": 20.0,
+    "episodes": [
+      {
+        "index": 0,
+        "length": 1000,
+        "reason": "time limit",
+        "reward": 58.88337729498744,
+        "success": false
+      }
+    ],
+    "metrics": {
+      "eval/avg_length": 1000.0,
+      "eval/avg_reward": 58.88337729498744,
+      "eval/success_rate": 0.0,
+      "linear_velocity_error": 0.11185938119888306,
+      "reward": 0.0634588673710823,
+      "root_height": 0.9720747470855713,
+      "yaw_rate_error": 0.04812958464026451
+    },
+    "reason": "control steps reached",
+    "requested_duration": 20.0,
+    "simulation_steps": 4000,
+    "simulation_time": 20.0
+  },
+  "limits": [
+    "This summarizes the earlier source-policy evaluation, not a new evaluation of this staged bundle.",
+    "A cached robot asset and a development simulation runtime were used.",
+    "A clean-cache evaluation using publicly installable dependencies is pending.",
+    "Velocity tasks have no terminal success goal; time-limit episodes are not failures."
+  ],
+  "checkpoint_metadata": {
+    "global_step": 108134400,
+    "num_updates": 1100,
+    "best_eval_value": null
+  }
+}

policies/h1-2-flat-ppo-default/run-manifest.json

@@ -0,0 +1,11 @@
+{
+  "schema_version": 1,
+  "configs": {
+    "train": "configs/train.yaml",
+    "gym": "configs/env.yaml"
+  },
+  "checkpoints": {
+    "latest": "checkpoint.pt",
+    "best": null
+  }
+}

policies/h1-2-flat-ppo-newton/checkpoint.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a1222cc14b2a75699ba9b93f0513cba631b00865998cbfa34c4e52f0c002232a
+size 5249095

policies/h1-2-flat-ppo-newton/configs/env.yaml

@@ -0,0 +1,172 @@
+physics: newton
+id: UnitreeH1_2FlatRL-v1
+max_episode_steps: 1000
+num_envs: 8
+scene_node_capacity: 262144
+headless: true
+device: cuda:0
+arena_space: 2.5
+render_cfg:
+  renderer: fast-rt
+physics_config:
+  sync_to_renderer: false
+  gravity:
+  - 0.0
+  - 0.0
+  - -9.81
+  num_substeps: 1
+  solver_cfg:
+    solver_type: mujoco_warp
+    njmax: 1024
+    nconmax: 256
+    iterations: 10
+    ls_iterations: 50
+    integrator: implicitfast
+    separate_worlds: true
+    tolerance: 1.0e-08
+  physics_dt: 0.005
+env:
+  sim_steps_per_control: 4
+  control_parts:
+  - locomotion
+  events:
+    push_robot:
+      func: push_articulation_by_setting_velocity
+      mode: interval
+      interval_step: 1
+      is_global: false
+      params:
+        entity_cfg:
+          uid: robot
+        interval_range_s:
+        - 5.0
+        - 6.0
+        velocity_range:
+          x:
+          - -0.5
+          - 0.5
+          y:
+          - -0.5
+          - 0.5
+          z:
+          - -0.4
+          - 0.4
+          roll:
+          - -0.52
+          - 0.52
+          pitch:
+          - -0.52
+          - 0.52
+          yaw:
+          - -0.78
+          - 0.78
+  observations:
+    policy:
+      func: velocity_locomotion_observation
+      mode: add
+      name: policy
+      params:
+        privileged: false
+        enable_corruption: true
+    critic:
+      func: velocity_locomotion_observation
+      mode: add
+      name: critic
+      params:
+        privileged: true
+        enable_corruption: false
+  rewards:
+    total:
+      func: velocity_locomotion_total_reward
+      mode: add
+      weight: 1.0
+      params: {}
+  actions:
+    joint_position:
+      func: DefaultJointPositionTerm
+      params: {}
+  extensions: {}
+robot:
+  uid: robot
+  fpath: UnitreeH1_2Locomotion/h1_2.usda
+  build_pk_chain: false
+  init_pos:
+  - 0.0
+  - 0.0
+  - 1.02
+  init_qpos:
+  - 0.0
+  - 0.0
+  - 0.0
+  - -0.2
+  - -0.2
+  - 0.28
+  - 0.28
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.5
+  - 0.5
+  - 0.0
+  - 0.0
+  - -0.3
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+  - 0.52
+  - 0.52
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  control_parts:
+    locomotion:
+    - left_hip_yaw_joint
+    - left_hip_pitch_joint
+    - left_hip_roll_joint
+    - left_knee_joint
+    - left_ankle_pitch_joint
+    - left_ankle_roll_joint
+    - right_hip_yaw_joint
+    - right_hip_pitch_joint
+    - right_hip_roll_joint
+    - right_knee_joint
+    - right_ankle_pitch_joint
+    - right_ankle_roll_joint
+    - torso_joint
+    - left_shoulder_pitch_joint
+    - left_shoulder_roll_joint
+    - left_shoulder_yaw_joint
+    - left_elbow_joint
+    - left_wrist_roll_joint
+    - left_wrist_pitch_joint
+    - left_wrist_yaw_joint
+    - right_shoulder_pitch_joint
+    - right_shoulder_roll_joint
+    - right_shoulder_yaw_joint
+    - right_elbow_joint
+    - right_wrist_roll_joint
+    - right_wrist_pitch_joint
+    - right_wrist_yaw_joint
+  asset_physics_mode: overlay
+  root_props:
+    fixed_base: false
+    self_collision_enabled: true
+    min_position_iters: 4
+    min_velocity_iters: 4
+sensor:
+- uid: locomotion_contacts
+  sensor_type: ContactSensor
+  articulation_cfg_list:
+  - articulation_uid: robot
+    link_name_list: []
+  filter_need_both_actor: false
+  max_contacts_per_env: 192
+light: {}
+background: []
+rigid_object: []
+rigid_object_group: []
+articulation: []