Add landing videos (mp4 + gif) and record_video.py; embed in model card

.gitattributes

@@ -33,3 +33,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+lunarlander-14params.gif filter=lfs diff=lfs merge=lfs -text
+lunarlander-14params.mp4 filter=lfs diff=lfs merge=lfs -text

README.md

@@ -25,6 +25,18 @@ symmetry of the environment (`x -> -x`, `vx -> -vx`, `angle -> -angle`,
 are self-paired). The 14 parameters live in `model.safetensors` as `sym_theta` (shape `(14,)`);
 `model.py` materialises the 8x4 matrix at load time, so the model really has 14 parameters.
 
+## Landing
+
+Greedy landings recorded from the environment (three episodes, returns 294.4 / 287.1 / 272.9):
+
+<video controls autoplay loop muted style="max-width: 600px">
+  <source src="lunarlander-14params.mp4" type="video/mp4" />
+</video>
+
+Single episode as an animated GIF:
+
+![LunarLander-v3 landing](lunarlander-14params.gif)
+
 ## Evaluation
 
 Deterministic greedy policy; "landing" and "crash" are the environment's own terminal `+100` / `-100`
@@ -73,6 +85,8 @@ while not done:
 | `model.safetensors` | the 14 weights (`sym_theta`, shape `(14,)`) |
 | `config.json` | architecture and environment metadata |
 | `verify.py` | structural checks and live Gymnasium evaluation |
+| `record_video.py` | records `lunarlander-14params.mp4` / `.gif` (headless, `rgb_array`) |
+| `lunarlander-14params.mp4`, `.gif` | landing videos (3 episodes / 1 episode) |
 | `requirements.txt` | dependencies |
 
 ## License

lunarlander-14params.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75e56098f831992dd2034c1ef5b964f9acfc92ca274cbb9ed25ab192f4da0547
+size 404926

record_video.py

@@ -0,0 +1,77 @@
+#!/usr/bin/env python3
+"""Record landing videos of the 14-parameter LunarLander policy (headless).
+
+Writes `lunarlander-14params.mp4` (a few episodes) and `lunarlander-14params.gif`
+(one episode, downscaled) next to this file.
+"""
+import os
+
+os.environ.setdefault("SDL_VIDEODRIVER", "dummy")
+os.environ.setdefault("SDL_AUDIODRIVER", "dummy")
+
+import numpy as np
+import gymnasium as gym
+import imageio.v2 as imageio
+
+from model import TinyLunarPolicy
+
+FPS = 50
+N_MP4_EPISODES = 3
+HERE = os.path.dirname(os.path.abspath(__file__))
+SEEDS = [40122, 42940, 51305, 55316, 60944, 61197, 93978, 96327, 103680, 157789]
+
+
+def record(policy, n_episodes, min_return=250.0):
+    env = gym.make("LunarLander-v3", render_mode="rgb_array")
+    clips = []
+    for seed in SEEDS:
+        for ep in range(100):
+            o, _ = env.reset(seed=seed * 1000 + ep)
+            frames, tot, last, term, trunc = [], 0.0, 0.0, False, False
+            frames.append(env.render())
+            while not (term or trunc):
+                o, r, term, trunc, _ = env.step(policy.act(o))
+                tot += r
+                last = r
+                frames.append(env.render())
+            if term and not trunc and last == 100.0 and tot >= min_return:
+                clips.append((seed, ep, tot, frames))
+                print("  клип: seed %d ep %d  возврат %.1f  кадров %d" % (seed, ep, tot, len(frames)),
+                      flush=True)
+            if len(clips) >= n_episodes:
+                env.close()
+                return clips
+    env.close()
+    return clips
+
+
+def main():
+    policy = TinyLunarPolicy.from_safetensors(os.path.join(HERE, "model.safetensors"))
+    print("запись эпизодов...", flush=True)
+    clips = record(policy, N_MP4_EPISODES)
+    if not clips:
+        raise SystemExit("не нашёл подходящих эпизодов")
+
+    # mp4: склеиваем клипы с короткой белой паузой между ними
+    white = np.full_like(clips[0][3][0], 255)
+    frames = []
+    for i, (s, e, r, fr) in enumerate(clips):
+        frames += fr
+        frames += [white] * 15
+    mp4 = os.path.join(HERE, "lunarlander-14params.mp4")
+    with imageio.get_writer(mp4, fps=FPS, codec="libx264", quality=8,
+                            pixelformat="yuv420p", macro_block_size=8) as w:
+        for f in frames:
+            w.append_data(np.asarray(f, np.uint8))
+    print("saved:", mp4, "| кадров", len(frames), "| ~%.1f c" % (len(frames) / FPS))
+
+    # gif: один клип, уменьшенный вдвое и 25 fps
+    fr = clips[0][3]
+    small = [np.asarray(f, np.uint8)[::2, ::2] for f in fr[::2]]
+    gif = os.path.join(HERE, "lunarlander-14params.gif")
+    imageio.mimsave(gif, small, fps=25)
+    print("saved:", gif, "| кадров", len(small), "| размер", small[0].shape)
+
+
+if __name__ == "__main__":
+    main()