yanshi-unitree-go2-default

Trained policies for unitree/go2/default, published by yanshi-rl-lab.

Each subdirectory is one task. ⛔ A tag snapshots the whole repository; only the subdirectory named below is that release.

# reproduce a release's numbers (pure CPU, no GPU needed)
python scripts/sim2sim/run_gates.py \
    --gates benchmark/gates/<exam>.yaml \
    --hf yanshi-robotics/yanshi-unitree-go2-default@<tag> --subdir <task>

velocity-flat

• Tag: go2-flat-s42
• Trained by: Isaac Lab's own scripts, on an upstream task left unchanged. This repository did not modify the task and does not examine it.
• ⛔ No deployment contract: upstream does not write one, so this release cannot be replayed by run_gates.py. Replay it with Isaac Lab's play.py (the recipe below has the command).
• Recipe: recipes/unitree-go2-default/velocity-flat.yaml
• Course chapter: isaac-lab-locomotion-basics/ch3-go2

Licence and scope

Weights are MIT, like the code. They contain no vendor model files: robot assets are fetched from their own upstreams under their own licences.

⛔ These policies have never run on physical hardware. They are validated in simulation only, and a second physics engine at that. Any real-robot use is at your own risk.

Generated by scripts/tools/publish_release.py -- do not edit by hand.