policy_checkpoints — deploy workflow
Deployment checkpoints for the ETHRC humanoid live here, synced with the private
HuggingFace bucket ETHRC-humanoid/rc-humanoid-locomotion. Each run is one subfolder
holding the deploy contract + weights (deploy.yaml, policy.pt, policy.onnx[.data]).
Nothing in this folder is git-tracked except the sync scripts and this doc (see
.gitignore) — the weights and configs live on HF and are pulled on demand, so the repo
never bloats and never drifts from the bucket.
0. One-time access (per machine)
You need to be in the ETHRC-humanoid HF org. In the training repo, run:
cd <rc_humanoid_rl_lab> && ./setup_hf.sh
It tells you to ask Darius on Discord for org access, then stores your token
(~/.hf_token + HF_TOKEN in your shell profile). On a cluster, just set HF_TOKEN as a
job secret instead. The pull/push scripts here read it automatically.
1. Pull the latest checkpoints
./pull_from_hf.sh
Downloads every run folder from the bucket into this directory.
2. Deploy in sim2sim
The sim2sim package drives any pulled checkpoint via --yaml <RUN_FOLDER>/deploy.yaml. Use a python
with torch + mujoco (the ethrc-deploy / env_isaaclab env). After
colcon build --packages-select sim2sim deployment:
# suspended (hang) — bring-up policies (knee/arm/ankle cycle, joint tracking)
ros2 run sim2sim sim2sim --yaml "$(pwd)/<RUN_FOLDER>/deploy.yaml" --base hang --view
# ground / soft-release (G1 elastic band) — standing / locomotion policies
ros2 run sim2sim sim2sim --yaml "$(pwd)/<RUN_FOLDER>/deploy.yaml" --base release --view
Without a built workspace, run the module directly:
PYTHONPATH=<repo>/ros2_ws/src/sim2sim:<repo>/ros2_ws/src/deployment python -m sim2sim.sim2sim --yaml <…>/deploy.yaml --base hang --view
3. Push new checkpoints
The primary push is from the training repo right after play_export.py
(<rc_humanoid_rl_lab>/upload_deploy_to_hf.sh). To push checkpoints curated here:
./push_to_hf.sh