publish rough-walk-e: manifest.json
Browse files- manifest.json +47 -0
manifest.json
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{
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"schema_version": 2,
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"model_api": 1,
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"name": "rough-walk-e",
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"kind": "perpetual",
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"obs_len": 61,
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"action_len": 14,
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"action_scale": 1.0,
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"entry_pose": "standing",
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"duration_s": null,
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"description": "Velocity-commanded walking tuned for rough ground (grid tiles, small stairs, rubble, slopes): the shipped alpha_walking fine-tuned 800 iterations on a hostile-terrain ladder. Same command scheme, same motor-power envelope, roughly half the falls.",
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"command": {
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"twist": [
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"vx: forward velocity command, m/s, trained range -0.4 .. 0.4",
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"vy: lateral velocity command, m/s, trained range -0.3 .. 0.3",
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"wz: yaw rate command, rad/s, trained range -1.0 .. 1.0 (achieved ~0.41 at 1.0; ~0.22 at 0.5)"
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],
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"head": "4 head-joint deltas from HOME, rad (neck_pitch, head_pitch, head_yaw, head_roll) \u2014 tracked, same as alpha_walking",
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"body": "unused (zeros)",
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"idle": [
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0,
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0,
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0
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]
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},
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"robot": {
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"model": "microduck",
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"hw_rev": 1,
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"servos": "xl330",
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"control_hz": 50
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},
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"training": {
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"task_id": "Mjlab-Hostile-FinetuneFeetProgress-MicroDuck",
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"repo": "pollen-robotics/microduck_rl",
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"commit": "6cd45fc on branch hostile-terrain (https://github.com/pollen-robotics/microduck_rl/commit/6cd45fc)",
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"run": "pollen-robotics/hostile-e-finetune-feet-progress-20260830-0103 (resumed from alpha_walking's checkpoint, wandb yr25mna4 model_9999)"
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},
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"eval": {
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"sim_proxy": "CPU MuJoCo with the BAM XL330 servo model; 10 s rollouts at 0.3 m/s, 5 random headings per terrain",
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"battery_falls": "14/110 across flat, 0-1.5 cm grids, 1-3 cm stairs, +/-0.2-2.5 cm rubble, 3-9 deg slopes (alpha_walking: 32/110 on the same battery)",
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"corridor_tour_m": 9.3,
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"flat_speed_m_s": 0.12,
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"motor_power_flat_w": 1.02,
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"turn_response": "0.41 rad/s achieved for 1.0 commanded; 0.22 for 0.5 (alpha: 0.50 at 1.0 with a deadband below ~0.5)",
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"known_limits": "falls descending stairs >= 2 cm; slightly weaker push recovery than alpha_walking (tilting-deck test); marches in place on rubble bumps >= ~2 cm instead of advancing; never tested on hardware"
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}
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}
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