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Commit History
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Default GAIT to snow, so the snow gait runs without setting a Space variable (#12)
- Default GAIT to snow, so the snow gait runs without setting a Space variable (cdc89968d26304abcba45ed33f73ae312b38da32)b996af7 -
Add a snow gait: higher swing, wider stance, slower cadence, foot-separation cost (#11)
- Add a snow gait: higher swing, wider stance, slower cadence, foot-separation cost (2e5f168c8c4580944c81380d6638e5ca4df03a34)95461ac -
Add a fall-recovery task: TASK=getup trains a G1 get-up policy on a full-collision model (#10)
- Add a fall-recovery task: TASK=getup trains a G1 get-up policy on a full-collision model (4c1835d7b98dd44bfd3e99b9c4195179b1ef8f29)e58984a -
Watch checkpoints walk: rollout video tab; NUM_EVALS sets checkpoint cadence (#8)
- Watch checkpoints walk: rollout video tab; NUM_EVALS sets checkpoint cadence (5c3a36864475705562b366c23c9064d66a39a8db)9510f61 -
Add snow to the Himalayan terrain: per-env foot-floor friction and soft-contact depth (#7)
- Add snow to the Himalayan terrain: per-env foot-floor friction and soft-contact depth (d86dee7c69b7727f57154ae2cb241a2247d47f62)0c0081b -
Train on real Himalayan (Khumbu SRTM) terrain: per-env heightfield crops (#6)
- Train on real Himalayan (Khumbu SRTM) terrain: per-env heightfield crops (5c758bef24fe3407631acfa907cc65fac884c5e2) - Upload himalaya checkpoints under himalaya/ prefix (d316437c6c6b64f632e87bbb5578b525803ec319) - Rebase onto main: keep the api_name=False fix; default 200M steps (af728665dd5275897664663cac4e1f2db167ffe7)add8915
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G1 rough-terrain training app (MuJoCo Playground + Brax PPO) (#1)
- G1 rough-terrain training app (MuJoCo Playground + Brax PPO) (d5305cb8565eb402cfe329463aad04633df795b1)e17685e -
initial commit
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