Upload X-NavDP checkpoints and robot assets

Add pretrained and post-trained checkpoints, auxiliary checkpoints, and robot assets. Navigation metadata is intentionally excluded.

Files changed (9) hide show

.gitattributes CHANGED Viewed

@@ -33,3 +33,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text

 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+robots/dingo.usd filter=lfs diff=lfs merge=lfs -text
+robots/unitreeg1.usd filter=lfs diff=lfs merge=lfs -text

checkpoints/README.md ADDED Viewed

+Place exported locomotion policies here (not included in repo):
+- `humanoid_g1/policy.pt` — G1 velocity tracking policy (TorchScript)
+- `quadruped_go2/policy.pt` — Go2 velocity tracking policy (TorchScript)
+  (`go2/policy.pt` is also accepted as a fallback path)
+Paths are resolved relative to this directory by default.

checkpoints/humanoid_g1/policy.pt ADDED Viewed

+version https://git-lfs.github.com/spec/v1
+oid sha256:f6efaa0aed14b8130e923b071cd1567c528a7c131783451fa41d630250fb57f8
+size 355730

checkpoints/quadruped_go2/policy.pt ADDED Viewed

+version https://git-lfs.github.com/spec/v1
+oid sha256:f1553f6a3535cf764176039e7f206afef88052f97fce46a8f1544f24546c9d6a
+size 174248

navdp_pretrain.ckpt ADDED Viewed

+version https://git-lfs.github.com/spec/v1
+oid sha256:3bb3ad4ab241e857bb57a4021cc6aab76d5263e81fbf80298d579053ef011947
+size 543257151

robots/README.md ADDED Viewed

+Place robot USD assets here (not included in repo due to size/license):
+- `dingo.usd` — wheeled robot (referenced by `src/environment/robots/dingo_config.py`)
+- `unitreeg1.usd` — humanoid robot (referenced by `src/environment/robots/g1_config.py`)
+Unitree Go2 uses Isaac Lab nucleus asset path by default.

robots/dingo.usd ADDED Viewed

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+size 17513670

robots/unitreeg1.usd ADDED Viewed

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+oid sha256:880a0cb3aaf9920bb2c439037e121af8a0617c4317558eb433f55ea042253389
+size 23569643

x-navdp_posttrain.ckpt ADDED Viewed

+version https://git-lfs.github.com/spec/v1
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