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rc-humanoid-locomotion

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Sync policy checkpoints (2026-06-29T13:24:19Z)

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Files changed (7) hide show
  1. ETHRC-humanoidv1-walk-urdf4-v0_u4_walk_gait/deploy.yaml +425 -0
  2. ETHRC-humanoidv1-walk-urdf4-v0_u4_walk_gait/policy.onnx +3 -0
  3. ETHRC-humanoidv1-walk-urdf4-v0_u4_walk_gait/policy.pt +3 -0
  4. u4_stand_pushrecovery_v5/README.md +32 -0
  5. u4_stand_pushrecovery_v5/deploy.yaml +356 -0
  6. u4_stand_pushrecovery_v5/policy.onnx +3 -0
  7. u4_stand_pushrecovery_v5/policy.pt +3 -0
ETHRC-humanoidv1-walk-urdf4-v0_u4_walk_gait/deploy.yaml ADDED
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1
+ experiment_name: ETHRC-humanoidv1-walk-urdf4-v0_u4_walk_gait
2
+ task: ETHRC-humanoidv1-walk-urdf4-v0
3
+ interface: lo
4
+ sim2sim: true
5
+ msg_type: go
6
+ imu_type: base_link
7
+ lowcmd_topic: rt/lowcmd
8
+ lowstate_topic: rt/lowstate
9
+ policy_path: policy.pt
10
+ num_actions: 26
11
+ action_scale: 0.25
12
+ use_default_offset: true
13
+ control_dt: 0.02
14
+ policy_rate_hz: 50.0
15
+ decimation: 4
16
+ sim_dt: 0.005
17
+ joint_names:
18
+ - waist_upperbody_yaw
19
+ - hip_central_rotation
20
+ - neck_yaw
21
+ - shoulder_flexion_l
22
+ - shoulder_flexion_r
23
+ - leg_flexion_l
24
+ - leg_flexion_r
25
+ - neck_pitch
26
+ - shoulder_abduction_l
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+ - shoulder_abduction_r
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+ - leg_abduction_l
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+ - leg_abduction_r
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+ - shoulder_rotation_l
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+ - shoulder_rotation_r
32
+ - hip_yaw_l
33
+ - hip_yaw_r
34
+ - elbow_flexion_l
35
+ - elbow_flexion_r
36
+ - knee_l
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+ - knee_r
38
+ - wrist_rotation_l
39
+ - wrist_rotation_r
40
+ - foot_pitch_l
41
+ - foot_pitch_r
42
+ - foot_roll_l
43
+ - foot_roll_r
44
+ joint2motor_idx:
45
+ - 0
46
+ - 1
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+ - 2
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+ - 3
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+ - 4
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+ - 5
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+ - 6
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+ - 7
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+ - 8
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+ - 9
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+ - 10
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+ - 11
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+ - 12
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+ - 13
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+ - 14
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+ - 15
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+ - 16
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+ - 17
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+ - 18
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+ - 19
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+ - 20
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+ - 21
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+ - 22
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+ - 23
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+ - 24
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+ - 25
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+ default_angles:
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ kps:
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+ - 200.0
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+ - 200.0
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+ - 50.0
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+ - 100.0
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+ - 100.0
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+ - 200.0
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+ - 200.0
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+ - 50.0
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+ - 100.0
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+ - 100.0
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+ - 200.0
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+ - 200.0
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+ - 50.0
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+ - 50.0
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+ - 200.0
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+ - 200.0
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+ - 50.0
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+ - 50.0
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+ - 200.0
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+ - 200.0
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+ - 50.0
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+ - 50.0
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+ - 40.0
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+ - 40.0
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+ - 60.0
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+ - 60.0
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+ kds:
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+ - 10.0
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+ - 10.0
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+ - 1.0
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+ - 2.0
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+ - 2.0
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+ - 10.0
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+ - 1.0
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+ - 1.0
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+ - 2.0
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+ - 2.0
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+ - 3.0
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+ - 3.0
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+ effort_limits:
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+ - 128.0
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+ - 128.0
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+ - 40.0
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+ - 80.0
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+ - 80.0
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+ - 128.0
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+ - 128.0
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+ - 40.0
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+ - 80.0
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+ - 128.0
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+ - 128.0
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+ - 40.0
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+ - 40.0
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+ - 128.0
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+ - 128.0
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+ - 40.0
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+ - 40.0
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+ - 128.0
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+ - 128.0
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+ - 40.0
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+ - 40.0
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+ - 40.0
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+ - 40.0
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+ - 40.0
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+ - 40.0
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+ articulation_joint_names:
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+ - waist_upperbody_yaw
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+ - hip_central_rotation
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+ - neck_yaw
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+ - shoulder_flexion_l
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+ - shoulder_flexion_r
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+ - leg_flexion_l
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+ - leg_flexion_r
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+ - neck_pitch
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+ - shoulder_abduction_l
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+ - shoulder_abduction_r
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+ - leg_abduction_l
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+ - leg_abduction_r
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+ - shoulder_rotation_l
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+ - shoulder_rotation_r
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+ - hip_yaw_l
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+ - hip_yaw_r
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+ - elbow_flexion_l
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+ - elbow_flexion_r
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+ - knee_l
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+ - knee_r
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+ - wrist_rotation_l
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+ - wrist_rotation_r
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+ - foot_pitch_l
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+ - foot_pitch_r
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+ - foot_roll_l
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+ - foot_roll_r
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+ articulation_default_angles:
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ pd_per_joint:
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+ waist_upperbody_yaw:
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+ kp: 200.0
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+ kd: 10.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ hip_central_rotation:
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+ kp: 200.0
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+ kd: 10.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ leg_flexion_l:
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+ kp: 200.0
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+ kd: 10.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ leg_flexion_r:
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+ kp: 200.0
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+ kd: 10.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ leg_abduction_l:
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+ kp: 200.0
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+ kd: 10.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ leg_abduction_r:
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+ kp: 200.0
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+ kd: 10.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ hip_yaw_l:
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+ kp: 200.0
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+ kd: 10.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ hip_yaw_r:
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+ kp: 200.0
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+ kd: 10.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ knee_l:
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+ kp: 200.0
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+ kd: 10.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ knee_r:
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+ kp: 200.0
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+ kd: 10.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ shoulder_flexion_l:
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+ kp: 100.0
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+ kd: 2.0
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+ effort_limit: 80.0
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+ velocity_limit: 18.0
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+ shoulder_flexion_r:
290
+ kp: 100.0
291
+ kd: 2.0
292
+ effort_limit: 80.0
293
+ velocity_limit: 18.0
294
+ shoulder_abduction_l:
295
+ kp: 100.0
296
+ kd: 2.0
297
+ effort_limit: 80.0
298
+ velocity_limit: 18.0
299
+ shoulder_abduction_r:
300
+ kp: 100.0
301
+ kd: 2.0
302
+ effort_limit: 80.0
303
+ velocity_limit: 18.0
304
+ neck_yaw:
305
+ kp: 50.0
306
+ kd: 1.0
307
+ effort_limit: 40.0
308
+ velocity_limit: 20.0
309
+ neck_pitch:
310
+ kp: 50.0
311
+ kd: 1.0
312
+ effort_limit: 40.0
313
+ velocity_limit: 20.0
314
+ shoulder_rotation_l:
315
+ kp: 50.0
316
+ kd: 1.0
317
+ effort_limit: 40.0
318
+ velocity_limit: 20.0
319
+ shoulder_rotation_r:
320
+ kp: 50.0
321
+ kd: 1.0
322
+ effort_limit: 40.0
323
+ velocity_limit: 20.0
324
+ elbow_flexion_l:
325
+ kp: 50.0
326
+ kd: 1.0
327
+ effort_limit: 40.0
328
+ velocity_limit: 20.0
329
+ elbow_flexion_r:
330
+ kp: 50.0
331
+ kd: 1.0
332
+ effort_limit: 40.0
333
+ velocity_limit: 20.0
334
+ wrist_rotation_l:
335
+ kp: 50.0
336
+ kd: 1.0
337
+ effort_limit: 40.0
338
+ velocity_limit: 20.0
339
+ wrist_rotation_r:
340
+ kp: 50.0
341
+ kd: 1.0
342
+ effort_limit: 40.0
343
+ velocity_limit: 20.0
344
+ foot_pitch_l:
345
+ kp: 40.0
346
+ kd: 2.0
347
+ effort_limit: 40.0
348
+ velocity_limit: 15.0
349
+ foot_pitch_r:
350
+ kp: 40.0
351
+ kd: 2.0
352
+ effort_limit: 40.0
353
+ velocity_limit: 15.0
354
+ foot_roll_l:
355
+ kp: 60.0
356
+ kd: 3.0
357
+ effort_limit: 40.0
358
+ velocity_limit: 15.0
359
+ foot_roll_r:
360
+ kp: 60.0
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+ kd: 3.0
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+ effort_limit: 40.0
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+ velocity_limit: 15.0
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+ obs_history_length: 5
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+ obs_single_frame_dim: 89
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+ obs_total_dim: 445
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+ obs_layout:
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+ - name: base_ang_vel
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+ start: 0
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+ end: 15
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+ base_dim: 3
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+ block_dim: 15
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+ scale: 0.2
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+ - name: projected_gravity
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+ start: 15
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+ end: 30
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+ base_dim: 3
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+ block_dim: 15
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+ scale: 1.0
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+ - name: velocity_commands
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+ start: 30
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+ end: 45
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+ base_dim: 3
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+ block_dim: 15
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+ scale: 1.0
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+ params:
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+ command_name: base_velocity
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+ - name: joint_pos_rel
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+ start: 45
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+ end: 175
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+ base_dim: 26
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+ block_dim: 130
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+ scale: 1.0
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+ - name: joint_vel_rel
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+ start: 175
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+ end: 305
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+ base_dim: 26
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+ block_dim: 130
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+ scale: 0.05
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+ - name: last_action
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+ start: 305
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+ end: 435
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+ base_dim: 26
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+ block_dim: 130
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+ scale: 1.0
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+ - name: gait_phase
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+ start: 435
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+ end: 445
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+ base_dim: 2
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+ block_dim: 10
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+ scale: 1.0
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+ params:
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+ period: 0.6
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+ command_name: base_velocity
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+ command_ranges:
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+ lin_vel_x:
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+ - -0.1
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+ - 0.1
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+ lin_vel_y:
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+ - 0.1
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+ - 0.8
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+ ang_vel_z:
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+ - -0.1
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+ - 0.1
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+ checkpoint: /home/sjohn/Documents/project/rc_humanoid_rl_lab/logs/rsl_rl/humanoid_v1_locomotion/ETHRC-humanoidv1-walk-urdf4-v0_u4_walk_gait/model_5999.pt
ETHRC-humanoidv1-walk-urdf4-v0_u4_walk_gait/policy.onnx ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:74f62c19d1008c938fd1c9eeb62a82d280c9019b32760d253c187346feeca510
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+ size 1584867
ETHRC-humanoidv1-walk-urdf4-v0_u4_walk_gait/policy.pt ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:7f13b2ee6fff19862695dff0b556a2b395c08846c111921f8c43c2e8978119bb
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+ size 1596886
u4_stand_pushrecovery_v5/README.md ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Standing + push-recovery — stepping (`u4_stand_pushrecovery_v5`)
2
+
3
+ A standing/balance policy for ETHRC Humanoid V1 (URDF_4, PSU, 0.75× compliant gains): the robot
4
+ **stands still, and when shoved takes a protective STEP to catch itself and returns to standing.**
5
+
6
+ ## Status (read this)
7
+ - ✅ **Clean in Isaac**: 99.8% survival at the trained max shove (**0.40 m/s velocity kick**), recovers by
8
+ **stepping** (`recovery_step` reward genuinely earned), and stands **still at rest** (no idle shuffle —
9
+ the gait/lift rewards are command-gated OFF at zero command).
10
+ - ⚠️ **Does NOT yet transfer to sim2sim/MuJoCo**: it collapses even just standing on release (the
11
+ proprioceptive sim2sim transfer gap — same as the URDF_4 walker). Needs dynamics-DR hardening +
12
+ likely closed-loop velocity sensing. Deploy only after that is resolved.
13
+
14
+ ## Recipe
15
+ - **Two-phase, warm-started.** Phase A: flat standing from scratch (~4500 iters, `time_out 0.9995`).
16
+ Phase B: WARM-START **from the walker** (`u4_walk_pdgain075b/model_9999`, which already steps) + a
17
+ velocity-gated `recovery_step` reward + a readiness-gated push curriculum (0→0.40 m/s). The walker
18
+ warm-start was the key — stepping recovery can't be bootstrapped from a pure stander.
19
+ - Agent `HumanoidWarmFinetuneClipCfg` (LR 2.5e-4, entropy 0.005 — the warm-start collapse fix),
20
+ clip_actions=100. Checkpoint: **model_17998**.
21
+ - Robot: URDF_4 PSU, 0.75× gains (legs 112.5/2.6, foot 30/0.87, shoulders 75/1.73, arms 37.5/0.87),
22
+ arms locked → 16 leg/torso actions. Command = stand (rel_standing_envs=1.0).
23
+
24
+ ## Files
25
+ - `policy.pt` / `policy.onnx` — TorchScript / ONNX actor; `deploy.yaml` — obs layout, per-joint PD
26
+ gains/limits, action order/scale, control rate, source checkpoint.
27
+
28
+ ## Validate
29
+ MuJoCo: `sim2sim.py --yaml deploy.yaml --base release --vy 0` (stand), then shove with `--joystick`
30
+ (L-stick drive, any button = shove), `--view` keyboard (I/K/J/L/SPACE), or `--push-every N`. base_link
31
+ convention: +X right, +Y forward, +Z up. (Expect the transfer-gap collapse until the DR-hardened
32
+ version is trained.)
u4_stand_pushrecovery_v5/deploy.yaml ADDED
@@ -0,0 +1,356 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ experiment_name: u4_stand_pushrecovery_v5
2
+ task: ETHRC-humanoidv1-stand-pushrecovery-psu-v0
3
+ interface: lo
4
+ sim2sim: true
5
+ msg_type: go
6
+ imu_type: base_link
7
+ lowcmd_topic: rt/lowcmd
8
+ lowstate_topic: rt/lowstate
9
+ policy_path: policy.pt
10
+ num_actions: 16
11
+ action_scale: 0.25
12
+ use_default_offset: true
13
+ control_dt: 0.02
14
+ policy_rate_hz: 50.0
15
+ decimation: 4
16
+ sim_dt: 0.005
17
+ joint_names:
18
+ - waist_upperbody_yaw
19
+ - hip_central_rotation
20
+ - neck_yaw
21
+ - leg_flexion_l
22
+ - leg_flexion_r
23
+ - neck_pitch
24
+ - leg_abduction_l
25
+ - leg_abduction_r
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+ - hip_yaw_l
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+ - hip_yaw_r
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+ - knee_l
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+ - knee_r
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+ - foot_pitch_l
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+ - foot_pitch_r
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+ - foot_roll_l
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+ - foot_roll_r
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+ joint2motor_idx:
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+ - 2
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+ - 9
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+ - 14
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+ - 15
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+ default_angles:
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+ - 0.0
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+ kps:
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+ checkpoint: /home/sjohn/Documents/project/rc_humanoid_rl_lab/logs/rsl_rl/humanoid_v1_locomotion/u4_stand_pushrecovery_v5/model_17998.pt
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