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r17_harden_g250_best/README.md
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# r17_harden_g250_best — the BEST checkpoint of the r17 run (not the last)
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Same run as `r17_harden_g250`, but the **curve-peak checkpoint (model_18700)** instead of the final
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(model_21998). The r17 run **degraded in its tail** — reward fell 28.6 → 7.8 over the last ~3k iters
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— so the last checkpoint is a worse policy. This bundle is the better one.
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|---|---|
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| Task | `ETHRC-humanoidv1-walk-r17-harden-psu-v0` |
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| Branch | `test/SjohnU_remodel_actuators` @ `4552a73` |
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| Checkpoint | **model_18700.pt** (curve peak; run went to 21998) |
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| Legs | 250/30 · Actions 26 @ 50 Hz (arms free) |
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## Why 18700, verified in physical units
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The training curve peaked at iter ~18,700 (reward 28.6, best velocity tracking) and degraded after
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~20,000. `measure_gait.py` confirmed the curve pick is a genuinely better walker, not just higher
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reward:
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| checkpoint | fwd vel @0.5 | leg vel RMS | flips/s | |
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|---|---|---|---|---|
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| **model_18700 (this)** | **0.323** | 0.695 | 11.1 | curve peak |
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| model_19800 | 0.289 | 0.652 | 11.5 | peak ep_len (smoothest) |
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| model_21998 (`r17_harden_g250`) | 0.293 | 0.661 | 11.2 | degraded tail |
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**18700 walks ~10% faster than the final checkpoint** (0.323 vs 0.293) at nearly the same smoothness
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— it dominates the last checkpoint on r17's main weakness (speed undershoot). model_19800 is a touch
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smoother if you prefer that trade.
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Method: use the training curve to spot the peak, then `measure_gait` to confirm it's a better *walker*
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(reward curves alone can rise while a policy degrades — verify in physical units).
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Everything else (recipe, caveats, deploy gains) is identical to `r17_harden_g250` — see that card.
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This folder exists only to serve the better checkpoint alongside it.
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## Files
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- `policy.pt`, `policy.onnx`, `deploy.yaml`, `model_18700.pt`
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r17_harden_g250_best/deploy.yaml
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| 1 |
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experiment_name: r17_harden_g250
|
| 2 |
+
task: ETHRC-humanoidv1-walk-r17-harden-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: 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
|
| 27 |
+
- shoulder_abduction_r
|
| 28 |
+
- leg_abduction_l
|
| 29 |
+
- leg_abduction_r
|
| 30 |
+
- shoulder_rotation_l
|
| 31 |
+
- shoulder_rotation_r
|
| 32 |
+
- hip_yaw_l
|
| 33 |
+
- hip_yaw_r
|
| 34 |
+
- elbow_flexion_l
|
| 35 |
+
- elbow_flexion_r
|
| 36 |
+
- knee_l
|
| 37 |
+
- 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
|
| 47 |
+
- 2
|
| 48 |
+
- 3
|
| 49 |
+
- 4
|
| 50 |
+
- 5
|
| 51 |
+
- 6
|
| 52 |
+
- 7
|
| 53 |
+
- 8
|
| 54 |
+
- 9
|
| 55 |
+
- 10
|
| 56 |
+
- 11
|
| 57 |
+
- 12
|
| 58 |
+
- 13
|
| 59 |
+
- 14
|
| 60 |
+
- 15
|
| 61 |
+
- 16
|
| 62 |
+
- 17
|
| 63 |
+
- 18
|
| 64 |
+
- 19
|
| 65 |
+
- 20
|
| 66 |
+
- 21
|
| 67 |
+
- 22
|
| 68 |
+
- 23
|
| 69 |
+
- 24
|
| 70 |
+
- 25
|
| 71 |
+
default_angles:
|
| 72 |
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- 0.0
|
| 73 |
+
- 0.0
|
| 74 |
+
- 0.0
|
| 75 |
+
- 0.0
|
| 76 |
+
- 0.0
|
| 77 |
+
- 0.18000000715255737
|
| 78 |
+
- -0.18000000715255737
|
| 79 |
+
- 0.0
|
| 80 |
+
- 0.0
|
| 81 |
+
- 0.0
|
| 82 |
+
- 0.0
|
| 83 |
+
- 0.0
|
| 84 |
+
- 0.0
|
| 85 |
+
- 0.0
|
| 86 |
+
- 0.0
|
| 87 |
+
- 0.0
|
| 88 |
+
- 0.0
|
| 89 |
+
- 0.0
|
| 90 |
+
- -0.3499999940395355
|
| 91 |
+
- -0.3499999940395355
|
| 92 |
+
- 0.0
|
| 93 |
+
- 0.0
|
| 94 |
+
- 0.18000000715255737
|
| 95 |
+
- 0.18000000715255737
|
| 96 |
+
- 0.0
|
| 97 |
+
- 0.0
|
| 98 |
+
kps:
|
| 99 |
+
- 223.36839294433594
|
| 100 |
+
- 223.36839294433594
|
| 101 |
+
- 41.7628173828125
|
| 102 |
+
- 62.73181915283203
|
| 103 |
+
- 62.73181915283203
|
| 104 |
+
- 223.36839294433594
|
| 105 |
+
- 223.36839294433594
|
| 106 |
+
- 41.7628173828125
|
| 107 |
+
- 62.73181915283203
|
| 108 |
+
- 62.73181915283203
|
| 109 |
+
- 223.36839294433594
|
| 110 |
+
- 223.36839294433594
|
| 111 |
+
- 41.7628173828125
|
| 112 |
+
- 41.7628173828125
|
| 113 |
+
- 223.36839294433594
|
| 114 |
+
- 223.36839294433594
|
| 115 |
+
- 41.7628173828125
|
| 116 |
+
- 41.7628173828125
|
| 117 |
+
- 223.36839294433594
|
| 118 |
+
- 223.36839294433594
|
| 119 |
+
- 41.7628173828125
|
| 120 |
+
- 41.7628173828125
|
| 121 |
+
- 30.849111557006836
|
| 122 |
+
- 30.849111557006836
|
| 123 |
+
- 30.849111557006836
|
| 124 |
+
- 30.849111557006836
|
| 125 |
+
kds:
|
| 126 |
+
- 21.162677764892578
|
| 127 |
+
- 21.162677764892578
|
| 128 |
+
- 1.0596873760223389
|
| 129 |
+
- 1.019529938697815
|
| 130 |
+
- 1.019529938697815
|
| 131 |
+
- 21.162677764892578
|
| 132 |
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- 21.162677764892578
|
| 133 |
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- 1.0596873760223389
|
| 134 |
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- 1.019529938697815
|
| 135 |
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- 1.019529938697815
|
| 136 |
+
- 21.162677764892578
|
| 137 |
+
- 21.162677764892578
|
| 138 |
+
- 1.0596873760223389
|
| 139 |
+
- 1.0596873760223389
|
| 140 |
+
- 21.162677764892578
|
| 141 |
+
- 21.162677764892578
|
| 142 |
+
- 1.0596873760223389
|
| 143 |
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- 1.0596873760223389
|
| 144 |
+
- 21.162677764892578
|
| 145 |
+
- 21.162677764892578
|
| 146 |
+
- 1.0596873760223389
|
| 147 |
+
- 1.0596873760223389
|
| 148 |
+
- 0.9940081238746643
|
| 149 |
+
- 0.9940081238746643
|
| 150 |
+
- 0.9940081238746643
|
| 151 |
+
- 0.9940081238746643
|
| 152 |
+
effort_limits:
|
| 153 |
+
- 128.0
|
| 154 |
+
- 128.0
|
| 155 |
+
- 40.0
|
| 156 |
+
- 80.0
|
| 157 |
+
- 80.0
|
| 158 |
+
- 128.0
|
| 159 |
+
- 128.0
|
| 160 |
+
- 40.0
|
| 161 |
+
- 80.0
|
| 162 |
+
- 80.0
|
| 163 |
+
- 128.0
|
| 164 |
+
- 128.0
|
| 165 |
+
- 40.0
|
| 166 |
+
- 40.0
|
| 167 |
+
- 128.0
|
| 168 |
+
- 128.0
|
| 169 |
+
- 40.0
|
| 170 |
+
- 40.0
|
| 171 |
+
- 128.0
|
| 172 |
+
- 128.0
|
| 173 |
+
- 40.0
|
| 174 |
+
- 40.0
|
| 175 |
+
- 60.0
|
| 176 |
+
- 60.0
|
| 177 |
+
- 60.0
|
| 178 |
+
- 60.0
|
| 179 |
+
articulation_joint_names:
|
| 180 |
+
- waist_upperbody_yaw
|
| 181 |
+
- hip_central_rotation
|
| 182 |
+
- neck_yaw
|
| 183 |
+
- shoulder_flexion_l
|
| 184 |
+
- shoulder_flexion_r
|
| 185 |
+
- leg_flexion_l
|
| 186 |
+
- leg_flexion_r
|
| 187 |
+
- neck_pitch
|
| 188 |
+
- shoulder_abduction_l
|
| 189 |
+
- shoulder_abduction_r
|
| 190 |
+
- leg_abduction_l
|
| 191 |
+
- leg_abduction_r
|
| 192 |
+
- shoulder_rotation_l
|
| 193 |
+
- shoulder_rotation_r
|
| 194 |
+
- hip_yaw_l
|
| 195 |
+
- hip_yaw_r
|
| 196 |
+
- elbow_flexion_l
|
| 197 |
+
- elbow_flexion_r
|
| 198 |
+
- knee_l
|
| 199 |
+
- knee_r
|
| 200 |
+
- wrist_rotation_l
|
| 201 |
+
- wrist_rotation_r
|
| 202 |
+
- foot_pitch_l
|
| 203 |
+
- foot_pitch_r
|
| 204 |
+
- foot_roll_l
|
| 205 |
+
- foot_roll_r
|
| 206 |
+
articulation_default_angles:
|
| 207 |
+
- 0.0
|
| 208 |
+
- 0.0
|
| 209 |
+
- 0.0
|
| 210 |
+
- 0.0
|
| 211 |
+
- 0.0
|
| 212 |
+
- 0.18000000715255737
|
| 213 |
+
- -0.18000000715255737
|
| 214 |
+
- 0.0
|
| 215 |
+
- 0.0
|
| 216 |
+
- 0.0
|
| 217 |
+
- 0.0
|
| 218 |
+
- 0.0
|
| 219 |
+
- 0.0
|
| 220 |
+
- 0.0
|
| 221 |
+
- 0.0
|
| 222 |
+
- 0.0
|
| 223 |
+
- 0.0
|
| 224 |
+
- 0.0
|
| 225 |
+
- -0.3499999940395355
|
| 226 |
+
- -0.3499999940395355
|
| 227 |
+
- 0.0
|
| 228 |
+
- 0.0
|
| 229 |
+
- 0.18000000715255737
|
| 230 |
+
- 0.18000000715255737
|
| 231 |
+
- 0.0
|
| 232 |
+
- 0.0
|
| 233 |
+
pd_per_joint:
|
| 234 |
+
waist_upperbody_yaw:
|
| 235 |
+
kp: 223.36839294433594
|
| 236 |
+
kd: 21.162677764892578
|
| 237 |
+
effort_limit: 128.0
|
| 238 |
+
velocity_limit: 14.65999984741211
|
| 239 |
+
hip_central_rotation:
|
| 240 |
+
kp: 223.36839294433594
|
| 241 |
+
kd: 21.162677764892578
|
| 242 |
+
effort_limit: 128.0
|
| 243 |
+
velocity_limit: 14.65999984741211
|
| 244 |
+
leg_flexion_l:
|
| 245 |
+
kp: 223.36839294433594
|
| 246 |
+
kd: 21.162677764892578
|
| 247 |
+
effort_limit: 128.0
|
| 248 |
+
velocity_limit: 14.65999984741211
|
| 249 |
+
leg_flexion_r:
|
| 250 |
+
kp: 223.36839294433594
|
| 251 |
+
kd: 21.162677764892578
|
| 252 |
+
effort_limit: 128.0
|
| 253 |
+
velocity_limit: 14.65999984741211
|
| 254 |
+
leg_abduction_l:
|
| 255 |
+
kp: 223.36839294433594
|
| 256 |
+
kd: 21.162677764892578
|
| 257 |
+
effort_limit: 128.0
|
| 258 |
+
velocity_limit: 14.65999984741211
|
| 259 |
+
leg_abduction_r:
|
| 260 |
+
kp: 223.36839294433594
|
| 261 |
+
kd: 21.162677764892578
|
| 262 |
+
effort_limit: 128.0
|
| 263 |
+
velocity_limit: 14.65999984741211
|
| 264 |
+
hip_yaw_l:
|
| 265 |
+
kp: 223.36839294433594
|
| 266 |
+
kd: 21.162677764892578
|
| 267 |
+
effort_limit: 128.0
|
| 268 |
+
velocity_limit: 14.65999984741211
|
| 269 |
+
hip_yaw_r:
|
| 270 |
+
kp: 223.36839294433594
|
| 271 |
+
kd: 21.162677764892578
|
| 272 |
+
effort_limit: 128.0
|
| 273 |
+
velocity_limit: 14.65999984741211
|
| 274 |
+
knee_l:
|
| 275 |
+
kp: 223.36839294433594
|
| 276 |
+
kd: 21.162677764892578
|
| 277 |
+
effort_limit: 128.0
|
| 278 |
+
velocity_limit: 14.65999984741211
|
| 279 |
+
knee_r:
|
| 280 |
+
kp: 223.36839294433594
|
| 281 |
+
kd: 21.162677764892578
|
| 282 |
+
effort_limit: 128.0
|
| 283 |
+
velocity_limit: 14.65999984741211
|
| 284 |
+
shoulder_flexion_l:
|
| 285 |
+
kp: 62.73181915283203
|
| 286 |
+
kd: 1.019529938697815
|
| 287 |
+
effort_limit: 80.0
|
| 288 |
+
velocity_limit: 18.0
|
| 289 |
+
shoulder_flexion_r:
|
| 290 |
+
kp: 62.73181915283203
|
| 291 |
+
kd: 1.019529938697815
|
| 292 |
+
effort_limit: 80.0
|
| 293 |
+
velocity_limit: 18.0
|
| 294 |
+
shoulder_abduction_l:
|
| 295 |
+
kp: 62.73181915283203
|
| 296 |
+
kd: 1.019529938697815
|
| 297 |
+
effort_limit: 80.0
|
| 298 |
+
velocity_limit: 18.0
|
| 299 |
+
shoulder_abduction_r:
|
| 300 |
+
kp: 62.73181915283203
|
| 301 |
+
kd: 1.019529938697815
|
| 302 |
+
effort_limit: 80.0
|
| 303 |
+
velocity_limit: 18.0
|
| 304 |
+
neck_yaw:
|
| 305 |
+
kp: 41.7628173828125
|
| 306 |
+
kd: 1.0596873760223389
|
| 307 |
+
effort_limit: 40.0
|
| 308 |
+
velocity_limit: 20.0
|
| 309 |
+
neck_pitch:
|
| 310 |
+
kp: 41.7628173828125
|
| 311 |
+
kd: 1.0596873760223389
|
| 312 |
+
effort_limit: 40.0
|
| 313 |
+
velocity_limit: 20.0
|
| 314 |
+
shoulder_rotation_l:
|
| 315 |
+
kp: 41.7628173828125
|
| 316 |
+
kd: 1.0596873760223389
|
| 317 |
+
effort_limit: 40.0
|
| 318 |
+
velocity_limit: 20.0
|
| 319 |
+
shoulder_rotation_r:
|
| 320 |
+
kp: 41.7628173828125
|
| 321 |
+
kd: 1.0596873760223389
|
| 322 |
+
effort_limit: 40.0
|
| 323 |
+
velocity_limit: 20.0
|
| 324 |
+
elbow_flexion_l:
|
| 325 |
+
kp: 41.7628173828125
|
| 326 |
+
kd: 1.0596873760223389
|
| 327 |
+
effort_limit: 40.0
|
| 328 |
+
velocity_limit: 20.0
|
| 329 |
+
elbow_flexion_r:
|
| 330 |
+
kp: 41.7628173828125
|
| 331 |
+
kd: 1.0596873760223389
|
| 332 |
+
effort_limit: 40.0
|
| 333 |
+
velocity_limit: 20.0
|
| 334 |
+
wrist_rotation_l:
|
| 335 |
+
kp: 41.7628173828125
|
| 336 |
+
kd: 1.0596873760223389
|
| 337 |
+
effort_limit: 40.0
|
| 338 |
+
velocity_limit: 20.0
|
| 339 |
+
wrist_rotation_r:
|
| 340 |
+
kp: 41.7628173828125
|
| 341 |
+
kd: 1.0596873760223389
|
| 342 |
+
effort_limit: 40.0
|
| 343 |
+
velocity_limit: 20.0
|
| 344 |
+
foot_pitch_l:
|
| 345 |
+
kp: 30.849111557006836
|
| 346 |
+
kd: 0.9940081238746643
|
| 347 |
+
effort_limit: 60.0
|
| 348 |
+
velocity_limit: 50.0
|
| 349 |
+
foot_pitch_r:
|
| 350 |
+
kp: 30.849111557006836
|
| 351 |
+
kd: 0.9940081238746643
|
| 352 |
+
effort_limit: 60.0
|
| 353 |
+
velocity_limit: 50.0
|
| 354 |
+
foot_roll_l:
|
| 355 |
+
kp: 30.849111557006836
|
| 356 |
+
kd: 0.9940081238746643
|
| 357 |
+
effort_limit: 60.0
|
| 358 |
+
velocity_limit: 50.0
|
| 359 |
+
foot_roll_r:
|
| 360 |
+
kp: 30.849111557006836
|
| 361 |
+
kd: 0.9940081238746643
|
| 362 |
+
effort_limit: 60.0
|
| 363 |
+
velocity_limit: 50.0
|
| 364 |
+
obs_history_length: 5
|
| 365 |
+
obs_single_frame_dim: 89
|
| 366 |
+
obs_total_dim: 445
|
| 367 |
+
obs_layout:
|
| 368 |
+
- name: base_ang_vel
|
| 369 |
+
start: 0
|
| 370 |
+
end: 15
|
| 371 |
+
base_dim: 3
|
| 372 |
+
block_dim: 15
|
| 373 |
+
scale: 0.2
|
| 374 |
+
- name: projected_gravity
|
| 375 |
+
start: 15
|
| 376 |
+
end: 30
|
| 377 |
+
base_dim: 3
|
| 378 |
+
block_dim: 15
|
| 379 |
+
scale: 1.0
|
| 380 |
+
- name: velocity_commands
|
| 381 |
+
start: 30
|
| 382 |
+
end: 45
|
| 383 |
+
base_dim: 3
|
| 384 |
+
block_dim: 15
|
| 385 |
+
scale: 1.0
|
| 386 |
+
params:
|
| 387 |
+
command_name: base_velocity
|
| 388 |
+
- name: joint_pos_rel
|
| 389 |
+
start: 45
|
| 390 |
+
end: 175
|
| 391 |
+
base_dim: 26
|
| 392 |
+
block_dim: 130
|
| 393 |
+
scale: 1.0
|
| 394 |
+
- name: joint_vel_rel
|
| 395 |
+
start: 175
|
| 396 |
+
end: 305
|
| 397 |
+
base_dim: 26
|
| 398 |
+
block_dim: 130
|
| 399 |
+
scale: 0.05
|
| 400 |
+
- name: last_action
|
| 401 |
+
start: 305
|
| 402 |
+
end: 435
|
| 403 |
+
base_dim: 26
|
| 404 |
+
block_dim: 130
|
| 405 |
+
scale: 1.0
|
| 406 |
+
- name: gait_phase
|
| 407 |
+
start: 435
|
| 408 |
+
end: 445
|
| 409 |
+
base_dim: 2
|
| 410 |
+
block_dim: 10
|
| 411 |
+
scale: 1.0
|
| 412 |
+
params:
|
| 413 |
+
period: 0.6
|
| 414 |
+
command_name: base_velocity
|
| 415 |
+
command_ranges:
|
| 416 |
+
lin_vel_x:
|
| 417 |
+
- -0.1
|
| 418 |
+
- 0.1
|
| 419 |
+
lin_vel_y:
|
| 420 |
+
- 0.1
|
| 421 |
+
- 0.8
|
| 422 |
+
ang_vel_z:
|
| 423 |
+
- -0.1
|
| 424 |
+
- 0.1
|
| 425 |
+
checkpoint: /home/sjohn/Documents/project/rc_humanoid_rl_lab/logs/rsl_rl/humanoid_v1_locomotion/r17_harden_g250/model_18700.pt
|
r17_harden_g250_best/model_18700.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0a15e0ad06c9c336b6a177c8f0595f8d524e0390b6edbd6912d7da2a7265d3db
|
| 3 |
+
size 7475647
|
r17_harden_g250_best/policy.onnx
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3c0448f773b60abd34416a849cc4f2cea7b977545e9523e4d763af3da789df83
|
| 3 |
+
size 1584867
|
r17_harden_g250_best/policy.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8654e3bd5fe5ff85d59f3ebcc36baa9975dd7911fee4f64335bce1d0e0c0591e
|
| 3 |
+
size 1596886
|