# 🐝 BeeWalker v6 — Training Results

Training results for the BeeWalker bipedal robot, using PPO and LSTM-based reinforcement learning in MuJoCo.

**GitHub:** [ThomasVuNguyen/makeshit](https://github.com/ThomasVuNguyen/makeshit)

## Training Runs

| Run | Type | Steps | Videos | Checkpoints |
|-----|------|-------|--------|-------------|
| [lstm_20260209_154855](./lstm_20260209_154855/) | LSTM | 17.9M | 4 | 0 |
| [lstm_20260209_004543](./lstm_20260209_004543/) | LSTM | 29.6M | 296 | 59 |
| [lstm_20260208_191752](./lstm_20260208_191752/) | LSTM | 9.9M | 99 | 19 |
| [lstm_20260208_190415](./lstm_20260208_190415/) | LSTM | 200K | 2 | 0 |
| [lstm_20260208_171335](./lstm_20260208_171335/) | LSTM | 1.2M | 12 | 2 |
| [lstm_20260207_013141](./lstm_20260207_013141/) | LSTM | 24.9M | 2489 | 49 |

## Robot

- **Simulation:** MuJoCo (BipedWalker custom env)
- **Servos:** 6× MG996R (hip, knee, ankle × 2)
- **Controller:** RP2040 (target deployment)
- **Algorithm:** RecurrentPPO (LSTM hidden_size=32)

## How to Use

```bash
# Upload results to HuggingFace
python tools/upload_hf.py --latest

# Upload all runs
python tools/upload_hf.py

# Upload specific run
python tools/upload_hf.py --run lstm_20260207_013141
```