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vr_m3_12dof_dwt_foothold/2026-07-20_22-07-29_vr_m3_12dof_dwt_foothold/events.out.tfevents.1784560062.worker-4.1987684.0

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vr_m3_12dof_dwt_foothold/2026-07-20_22-07-29_vr_m3_12dof_dwt_foothold/git/mjlab_perceptive_dwt.diff

@@ -0,0 +1,30 @@
+--- git commit ---
+59c3c413a30c0a375f2365e7f02a02e5023b9634
+
+
+--- git status ---
+On branch dev/fdf
+Your branch is up to date with 'origin/dev/fdf'.
+
+Changes not staged for commit:
+  (use "git add <file>..." to update what will be committed)
+  (use "git restore <file>..." to discard changes in working directory)
+	modified:   src/tasks/velocity/config/vr_m3_12dof/__init__.py
+
+no changes added to commit (use "git add" and/or "git commit -a") 
+
+
+--- git diff ---
+diff --git a/src/tasks/velocity/config/vr_m3_12dof/__init__.py b/src/tasks/velocity/config/vr_m3_12dof/__init__.py
+index a6e8d27..e43f78c 100644
+--- a/src/tasks/velocity/config/vr_m3_12dof/__init__.py
++++ b/src/tasks/velocity/config/vr_m3_12dof/__init__.py
+@@ -203,7 +203,7 @@ except (AttributeError, ImportError):
+ # Frequency Domain Filtering
+ register_mjlab_task(
+     task_id="VR-M3-12DOF-Foothold-FDF",
+-    env_cfg=vr_m3_12dof_foothold_fdf_env_cfg(),
++    env_cfg=vr_m3_12dof_foothold_fdf_env_cfg(mask_fraction=0.1),
+     play_env_cfg=vr_m3_12dof_foothold_fdf_env_cfg(play=True),
+     rl_cfg=vr_m3_12dof_foothold_fdf_vr_rsl_rl_runner_cfg(),
+     runner_cls=VelocityOnPolicyRunner,

vr_m3_12dof_dwt_foothold/2026-07-20_22-07-29_vr_m3_12dof_dwt_foothold/git/vr_rsl_rl.diff

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+
+
+--- git status ---
+On branch main
+Your branch is up to date with 'origin/main'.
+
+nothing to commit, working tree clean 
+
+
+--- git diff ---

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vr_m3_12dof_dwt_foothold/2026-07-20_22-07-29_vr_m3_12dof_dwt_foothold/params/agent.yaml

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+seed: 42
+num_steps_per_env: 24
+max_iterations: 100001
+obs_groups:
+  actor:
+  - base_ang_vel
+  - projected_gravity
+  - velocity_commands
+  - joint_pos_rel
+  - joint_vel_rel
+  - last_action
+  - gait_phase
+  - depth_image
+  critic:
+  - base_ang_vel
+  - projected_gravity
+  - velocity_commands
+  - joint_pos_rel
+  - joint_vel_rel
+  - last_action
+  - gait_phase
+  - base_lin_vel
+  - true_base_velocity
+  - foot_height
+  - foot_air_time
+  - foot_contact
+  - foot_contact_forces
+  - knee_reference
+  - height_scan
+  - foothold_target
+  - depth_image
+save_interval: 1000
+experiment_name: vr_m3_12dof_dwt_foothold
+run_name: vr_m3_12dof_dwt_foothold
+logger: wandb
+wandb_project: vr_m3_12dof
+wandb_tags: !!python/tuple []
+resume: false
+load_run: .*
+load_checkpoint: model_.*.pt
+clip_actions: null
+upload_model: true
+class_name: OnPolicyRunner
+actor:
+  hidden_dims: !!python/tuple
+  - 1024
+  - 512
+  - 256
+  - 128
+  activation: elu
+  obs_normalization: true
+  cnn_cfg:
+    output_channels: !!python/tuple
+    - 32
+    - 32
+    kernel_size: !!python/tuple
+    - 3
+    - 3
+    stride: !!python/tuple
+    - 1
+    - 1
+    dilation: !!python/tuple
+    - 1
+    - 1
+    padding: 1
+    padding_mode: replicate
+    norm: none
+    activation: relu
+    max_pool: false
+    max_pool_kernel_size: 3
+    max_pool_stride: 2
+    max_pool_padding: 0
+    global_pool: none
+    head_output_dim: 64
+    head_hidden_dims:
+    - 128
+    - 64
+    head_activation: relu
+    head_last_activation: relu
+  distribution_cfg:
+    init_std: 1.0
+    std_type: scalar
+critic:
+  hidden_dims: !!python/tuple
+  - 1024
+  - 512
+  - 256
+  - 128
+  activation: elu
+  obs_normalization: true
+  cnn_cfg:
+    output_channels: !!python/tuple
+    - 32
+    - 32
+    kernel_size: !!python/tuple
+    - 3
+    - 3
+    stride: !!python/tuple
+    - 1
+    - 1
+    dilation: !!python/tuple
+    - 1
+    - 1
+    padding: 1
+    padding_mode: replicate
+    norm: none
+    activation: relu
+    max_pool: false
+    max_pool_kernel_size: 3
+    max_pool_stride: 2
+    max_pool_padding: 0
+    global_pool: none
+    head_output_dim: 64
+    head_hidden_dims:
+    - 128
+    - 64
+    head_activation: relu
+    head_last_activation: relu
+  distribution_cfg:
+    init_std: 1.0
+    std_type: scalar
+algorithm:
+  num_learning_epochs: 5
+  num_mini_batches: 4
+  learning_rate: 0.001
+  schedule: adaptive
+  gamma: 0.99
+  lam: 0.95
+  entropy_coef: 0.005
+  desired_kl: 0.01
+  max_grad_norm: 1.0
+  value_loss_coef: 1.0
+  use_clipped_value_loss: true
+  clip_param: 0.2
+  normalize_advantage_per_mini_batch: false
+  optimizer: adam
+  rnd_cfg: null
+  symmetry_cfg: null
+multi_gpu: null

vr_m3_12dof_dwt_foothold/2026-07-20_22-07-29_vr_m3_12dof_dwt_foothold/params/deploy.yaml

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+joint_name: [left_hip_pitch_joint, left_hip_roll_joint, left_hip_yaw_joint, left_knee_pitch_joint,
+  left_ankle_pitch_joint, left_ankle_roll_joint, right_hip_pitch_joint, right_hip_roll_joint,
+  right_hip_yaw_joint, right_knee_pitch_joint, right_ankle_pitch_joint, right_ankle_roll_joint]
+joint_ids_map: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
+step_dt: 0.02
+stiffness: [150.0, 150.0, 120.0, 200.0, 200.0, 200.0, 150.0, 150.0, 120.0, 200.0,
+  200.0, 200.0]
+damping: [25.0, 25.0, 4.0, 10.0, 8.0, 8.0, 25.0, 25.0, 4.0, 10.0, 8.0, 8.0]
+default_joint_pos: [-0.1, 0.0, 0.0, 0.2, -0.1, 0.0, -0.1, 0.0, 0.0, 0.2, -0.1, 0.0]
+commands:
+  twist:
+    ranges:
+      lin_vel_x: [0.0, 1.0]
+      lin_vel_y: [0.0, 0.0]
+      ang_vel_z: [-0.5, 0.5]
+      heading: null
+actions:
+  JointPositionAction:
+    clip: null
+    scale: [0.6, 0.6, 0.271, 0.45, 0.15, 0.15, 0.6, 0.6, 0.271, 0.45, 0.15, 0.15]
+    offset: [-0.1, 0.0, 0.0, 0.2, -0.1, 0.0, -0.1, 0.0, 0.0, 0.2, -0.1, 0.0]
+    joint_names: [.*]
+    joint_ids: null
+observations:
+  base_ang_vel:
+    params: {sensor_name: robot/imu_ang_vel}
+    clip: null
+    scale: [0.25, 0.25, 0.25]
+    history_length: 5
+  projected_gravity:
+    params: {}
+    clip: null
+    scale: [1.0, 1.0, 1.0]
+    history_length: 5
+  velocity_commands:
+    params: {command_name: twist}
+    clip: null
+    scale: [1.0, 1.0, 1.0]
+    history_length: 5
+  joint_pos_rel:
+    params: {}
+    clip: null
+    scale: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
+    history_length: 5
+  joint_vel_rel:
+    params: {}
+    clip: null
+    scale: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+    history_length: 5
+  last_action:
+    params: {}
+    clip: null
+    scale: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
+    history_length: 5
+  gait_phase:
+    params: {period: 0.9, command_name: twist}
+    clip: null
+    scale: [1.0, 1.0]
+    history_length: 5
+  depth_image:
+    params:
+      data_type: distance_to_image_plane_noised_history
+      sensor_cfg:
+        name: camera
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice [null, null, null]
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice [null, null, null]
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice [null, null, null]
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice [null, null, null]
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice [null, null, null]
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice [null, null, null]
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice [null, null, null]
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice [null, null, null]
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice [null, null, null]
+        pair_names: null
+        pair_ids: !!python/object/apply:builtins.slice [null, null, null]
+        preserve_order: false
+      history_skip_frames: 5
+      num_output_frames: 4
+      delayed_frame_ranges: [0, 1]
+      debug_vis: false
+      mask_fraction: 0.1
+    clip: null
+    scale: [1.0, 1.0, 1.0, 1.0]
+    history_length: 1

vr_m3_12dof_dwt_foothold/2026-07-20_22-07-29_vr_m3_12dof_dwt_foothold/policy.onnx

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vr_m3_12dof_dwt_foothold/2026-07-20_22-08-40_vr_m3_12dof_dwt_foothold/git/mjlab_perceptive_dwt.diff

@@ -0,0 +1,30 @@
+--- git commit ---
+59c3c413a30c0a375f2365e7f02a02e5023b9634
+
+
+--- git status ---
+On branch dev/fdf
+Your branch is up to date with 'origin/dev/fdf'.
+
+Changes not staged for commit:
+  (use "git add <file>..." to update what will be committed)
+  (use "git restore <file>..." to discard changes in working directory)
+	modified:   src/tasks/velocity/config/vr_m3_12dof/__init__.py
+
+no changes added to commit (use "git add" and/or "git commit -a") 
+
+
+--- git diff ---
+diff --git a/src/tasks/velocity/config/vr_m3_12dof/__init__.py b/src/tasks/velocity/config/vr_m3_12dof/__init__.py
+index a6e8d27..62586d9 100644
+--- a/src/tasks/velocity/config/vr_m3_12dof/__init__.py
++++ b/src/tasks/velocity/config/vr_m3_12dof/__init__.py
+@@ -203,7 +203,7 @@ except (AttributeError, ImportError):
+ # Frequency Domain Filtering
+ register_mjlab_task(
+     task_id="VR-M3-12DOF-Foothold-FDF",
+-    env_cfg=vr_m3_12dof_foothold_fdf_env_cfg(),
++    env_cfg=vr_m3_12dof_foothold_fdf_env_cfg(mask_fraction=0.3),
+     play_env_cfg=vr_m3_12dof_foothold_fdf_env_cfg(play=True),
+     rl_cfg=vr_m3_12dof_foothold_fdf_vr_rsl_rl_runner_cfg(),
+     runner_cls=VelocityOnPolicyRunner,

vr_m3_12dof_dwt_foothold/2026-07-20_22-08-40_vr_m3_12dof_dwt_foothold/git/vr_rsl_rl.diff

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+
+--- git status ---
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+Your branch is up to date with 'origin/main'.
+
+nothing to commit, working tree clean 
+
+
+--- git diff ---

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