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Fix: fetch mujoco_menagerie for directly-built envs (snow gait crashed on a fresh container)
Verified signature6bce86d -
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 -
Fix: render rollouts in a subprocess with a probed GL backend (EGL import broke training) (#9)
- Fix: render rollouts in a subprocess with a probed GL backend (EGL import broke training) (e9167b63f39838ce6bf7e94b0badfa234d2d30aa)8b1d746 -
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 -
Stop external callers from killing runs via the public API (#5)
- Stop external callers from killing runs via the public API (706604ef5e819c777302a31a0d07cbb366600afe)bae31d1 -
Make the timestep budget settable from the UI (#4)
- Make the timestep budget settable from the UI (9907ec98b7289ab60e261d852e0855dbe29f84cc)b5c86a6
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Validate checkpoint credentials once; log throughput (#3)
- Validate checkpoint credentials once; log throughput (6d642f1fd9d522b17d56a10443e1e50aae3add4c)c2e7fd5 -
Fix: shim jax.device_put_replicated removed in JAX 0.10 (#2)
- Fix: shim jax.device_put_replicated removed in JAX 0.10 (ff9a65300be602a346ff261beb1184696e626b5b)5d9dbec -
G1 rough-terrain training app (MuJoCo Playground + Brax PPO) (#1)
- G1 rough-terrain training app (MuJoCo Playground + Brax PPO) (d5305cb8565eb402cfe329463aad04633df795b1)e17685e