Add r16lat_g220 (report-17 leg-gain sweep, measured 0.5/0.8/1.2)
Browse files- r16lat_g220/README.md +48 -0
- r16lat_g220/deploy.yaml +425 -0
- r16lat_g220/model_9999.pt +3 -0
- r16lat_g220/policy.onnx +3 -0
- r16lat_g220/policy.pt +3 -0
r16lat_g220/README.md
ADDED
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# r16lat_g220 — Report 17 leg-gain sweep (gain=220)
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**SWEET SPOT of the sweep** — fastest (0.981 m/s @ cmd 1.2), nearly upright. Measured **0.981 m/s at command 1.2**.
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|---|---|
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| Task | `ETHRC-humanoidv1-walk-r17-g220-psu-v0` |
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| Branch | `test/SjohnU_remodel_actuators` |
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| Checkpoint | `model_9999.pt` (10,000 iters) |
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| Envs / seed | 4096 / 42 |
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| rsl-rl | 5.0.1 |
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| wandb | `zywda9rf` (project rc_humanoid_rl) |
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| Hardware | AWS us-east-2, 1x L40S (g6e.xlarge) |
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## Report-17 leg-gain sweep (r16-latency lineage) — measured across the command sweep
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Five leg-gain points (g210..g250) off the `r16_latency` walker, each an otherwise-identical clean
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ablation, 10k iters, 4096 envs, seed 42, branch `test/SjohnU_remodel_actuators`. Measured with
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`scripts/rsl_rl/measure_gait.py` (1000 steps x 64 envs) at three forward commands.
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**Physical m/s, not reward-term tvel.**
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| leg gain | @0.5 | @0.8 | @1.2 | lean@1.2 |
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|---|---|---|---|---|
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| g210 | 0.365 | 0.579 | 0.708 | 3.3 deg fwd |
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| **g220** | 0.414 | 0.691 | **0.981** | 1.8 deg back |
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| g230 | 0.393 | 0.641 | 0.884 | 5.8 deg back |
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| g240 | 0.422 | 0.648 | 0.883 | 3.5 deg back |
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| g250 | 0.397 | 0.655 | 0.760 | 1.3 deg fwd |
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### Findings
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1. **g220 is the sweet spot: 0.981 m/s @ command 1.2, nearly upright (1.8 deg).** It ties the
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campaign's fastest walker (`final_act`, 0.977) and has the cleanest command scaling
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(0.414 -> 0.691 -> 0.981).
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2. **The gain vs speed relationship is an INVERTED-U, not monotonic.** 210 -> 220 (peak) -> 230
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~= 240 -> 250. Both softer (g210, 0.708) and stiffer (g250, 0.760) legs are slower at the top
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command than g220. Stiffer is not simply better.
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3. **The effect is invisible at command 0.5.** All five cluster at 0.37-0.42 m/s there -- the
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0.5 training cap. The 29% spread (g220 0.981 vs g210 0.708) only appears at command 1.2.
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A single-point measurement at 0.5 would wrongly conclude the gain does not matter; the sweep
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is what surfaces it. (Same lesson as the r16 slate: measure across commands, in physical units.)
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## Files
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- `policy.pt`, `policy.onnx` — exported via `scripts/rsl_rl/play_export.py`
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- `deploy.yaml` — deploy config (50 Hz)
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- `model_9999.pt` — raw rsl-rl checkpoint
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r16lat_g220/deploy.yaml
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experiment_name: r16lat_g220
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task: ETHRC-humanoidv1-walk-r17-g220-psu-v0
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interface: lo
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sim2sim: true
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msg_type: go
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imu_type: base_link
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lowcmd_topic: rt/lowcmd
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lowstate_topic: rt/lowstate
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policy_path: policy.pt
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num_actions: 26
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action_scale: 0.25
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use_default_offset: true
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control_dt: 0.02
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policy_rate_hz: 50.0
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decimation: 4
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sim_dt: 0.005
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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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joint2motor_idx:
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- 0
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- 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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| 76 |
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- 0.0
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| 77 |
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- 0.18000000715255737
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| 78 |
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- -0.18000000715255737
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| 79 |
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- 0.0
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| 80 |
+
- 0.0
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| 81 |
+
- 0.0
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| 82 |
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- 0.0
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| 83 |
+
- 0.0
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| 84 |
+
- 0.0
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| 85 |
+
- 0.0
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| 86 |
+
- 0.0
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| 87 |
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- 0.0
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| 88 |
+
- 0.0
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| 89 |
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- 0.0
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| 90 |
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- -0.3499999940395355
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| 91 |
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- -0.3499999940395355
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| 92 |
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- 0.0
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| 93 |
+
- 0.0
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| 94 |
+
- 0.18000000715255737
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| 95 |
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- 0.18000000715255737
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| 96 |
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- 0.0
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| 97 |
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- 0.0
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| 98 |
+
kps:
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- 213.9212646484375
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- 213.9212646484375
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- 38.95669937133789
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- 71.63602447509766
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- 38.95669937133789
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- 37.418601989746094
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| 123 |
+
- 37.418601989746094
|
| 124 |
+
- 37.418601989746094
|
| 125 |
+
kds:
|
| 126 |
+
- 25.503498077392578
|
| 127 |
+
- 25.503498077392578
|
| 128 |
+
- 0.9242613315582275
|
| 129 |
+
- 1.665215015411377
|
| 130 |
+
- 1.665215015411377
|
| 131 |
+
- 25.503498077392578
|
| 132 |
+
- 25.503498077392578
|
| 133 |
+
- 0.9242613315582275
|
| 134 |
+
- 1.665215015411377
|
| 135 |
+
- 1.665215015411377
|
| 136 |
+
- 25.503498077392578
|
| 137 |
+
- 25.503498077392578
|
| 138 |
+
- 0.9242613315582275
|
| 139 |
+
- 0.9242613315582275
|
| 140 |
+
- 25.503498077392578
|
| 141 |
+
- 25.503498077392578
|
| 142 |
+
- 0.9242613315582275
|
| 143 |
+
- 0.9242613315582275
|
| 144 |
+
- 25.503498077392578
|
| 145 |
+
- 25.503498077392578
|
| 146 |
+
- 0.9242613315582275
|
| 147 |
+
- 0.9242613315582275
|
| 148 |
+
- 1.0290013551712036
|
| 149 |
+
- 1.0290013551712036
|
| 150 |
+
- 1.0290013551712036
|
| 151 |
+
- 1.0290013551712036
|
| 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: 213.9212646484375
|
| 236 |
+
kd: 25.503498077392578
|
| 237 |
+
effort_limit: 128.0
|
| 238 |
+
velocity_limit: 14.65999984741211
|
| 239 |
+
hip_central_rotation:
|
| 240 |
+
kp: 213.9212646484375
|
| 241 |
+
kd: 25.503498077392578
|
| 242 |
+
effort_limit: 128.0
|
| 243 |
+
velocity_limit: 14.65999984741211
|
| 244 |
+
leg_flexion_l:
|
| 245 |
+
kp: 213.9212646484375
|
| 246 |
+
kd: 25.503498077392578
|
| 247 |
+
effort_limit: 128.0
|
| 248 |
+
velocity_limit: 14.65999984741211
|
| 249 |
+
leg_flexion_r:
|
| 250 |
+
kp: 213.9212646484375
|
| 251 |
+
kd: 25.503498077392578
|
| 252 |
+
effort_limit: 128.0
|
| 253 |
+
velocity_limit: 14.65999984741211
|
| 254 |
+
leg_abduction_l:
|
| 255 |
+
kp: 213.9212646484375
|
| 256 |
+
kd: 25.503498077392578
|
| 257 |
+
effort_limit: 128.0
|
| 258 |
+
velocity_limit: 14.65999984741211
|
| 259 |
+
leg_abduction_r:
|
| 260 |
+
kp: 213.9212646484375
|
| 261 |
+
kd: 25.503498077392578
|
| 262 |
+
effort_limit: 128.0
|
| 263 |
+
velocity_limit: 14.65999984741211
|
| 264 |
+
hip_yaw_l:
|
| 265 |
+
kp: 213.9212646484375
|
| 266 |
+
kd: 25.503498077392578
|
| 267 |
+
effort_limit: 128.0
|
| 268 |
+
velocity_limit: 14.65999984741211
|
| 269 |
+
hip_yaw_r:
|
| 270 |
+
kp: 213.9212646484375
|
| 271 |
+
kd: 25.503498077392578
|
| 272 |
+
effort_limit: 128.0
|
| 273 |
+
velocity_limit: 14.65999984741211
|
| 274 |
+
knee_l:
|
| 275 |
+
kp: 213.9212646484375
|
| 276 |
+
kd: 25.503498077392578
|
| 277 |
+
effort_limit: 128.0
|
| 278 |
+
velocity_limit: 14.65999984741211
|
| 279 |
+
knee_r:
|
| 280 |
+
kp: 213.9212646484375
|
| 281 |
+
kd: 25.503498077392578
|
| 282 |
+
effort_limit: 128.0
|
| 283 |
+
velocity_limit: 14.65999984741211
|
| 284 |
+
shoulder_flexion_l:
|
| 285 |
+
kp: 71.63602447509766
|
| 286 |
+
kd: 1.665215015411377
|
| 287 |
+
effort_limit: 80.0
|
| 288 |
+
velocity_limit: 18.0
|
| 289 |
+
shoulder_flexion_r:
|
| 290 |
+
kp: 71.63602447509766
|
| 291 |
+
kd: 1.665215015411377
|
| 292 |
+
effort_limit: 80.0
|
| 293 |
+
velocity_limit: 18.0
|
| 294 |
+
shoulder_abduction_l:
|
| 295 |
+
kp: 71.63602447509766
|
| 296 |
+
kd: 1.665215015411377
|
| 297 |
+
effort_limit: 80.0
|
| 298 |
+
velocity_limit: 18.0
|
| 299 |
+
shoulder_abduction_r:
|
| 300 |
+
kp: 71.63602447509766
|
| 301 |
+
kd: 1.665215015411377
|
| 302 |
+
effort_limit: 80.0
|
| 303 |
+
velocity_limit: 18.0
|
| 304 |
+
neck_yaw:
|
| 305 |
+
kp: 38.95669937133789
|
| 306 |
+
kd: 0.9242613315582275
|
| 307 |
+
effort_limit: 40.0
|
| 308 |
+
velocity_limit: 20.0
|
| 309 |
+
neck_pitch:
|
| 310 |
+
kp: 38.95669937133789
|
| 311 |
+
kd: 0.9242613315582275
|
| 312 |
+
effort_limit: 40.0
|
| 313 |
+
velocity_limit: 20.0
|
| 314 |
+
shoulder_rotation_l:
|
| 315 |
+
kp: 38.95669937133789
|
| 316 |
+
kd: 0.9242613315582275
|
| 317 |
+
effort_limit: 40.0
|
| 318 |
+
velocity_limit: 20.0
|
| 319 |
+
shoulder_rotation_r:
|
| 320 |
+
kp: 38.95669937133789
|
| 321 |
+
kd: 0.9242613315582275
|
| 322 |
+
effort_limit: 40.0
|
| 323 |
+
velocity_limit: 20.0
|
| 324 |
+
elbow_flexion_l:
|
| 325 |
+
kp: 38.95669937133789
|
| 326 |
+
kd: 0.9242613315582275
|
| 327 |
+
effort_limit: 40.0
|
| 328 |
+
velocity_limit: 20.0
|
| 329 |
+
elbow_flexion_r:
|
| 330 |
+
kp: 38.95669937133789
|
| 331 |
+
kd: 0.9242613315582275
|
| 332 |
+
effort_limit: 40.0
|
| 333 |
+
velocity_limit: 20.0
|
| 334 |
+
wrist_rotation_l:
|
| 335 |
+
kp: 38.95669937133789
|
| 336 |
+
kd: 0.9242613315582275
|
| 337 |
+
effort_limit: 40.0
|
| 338 |
+
velocity_limit: 20.0
|
| 339 |
+
wrist_rotation_r:
|
| 340 |
+
kp: 38.95669937133789
|
| 341 |
+
kd: 0.9242613315582275
|
| 342 |
+
effort_limit: 40.0
|
| 343 |
+
velocity_limit: 20.0
|
| 344 |
+
foot_pitch_l:
|
| 345 |
+
kp: 37.418601989746094
|
| 346 |
+
kd: 1.0290013551712036
|
| 347 |
+
effort_limit: 60.0
|
| 348 |
+
velocity_limit: 50.0
|
| 349 |
+
foot_pitch_r:
|
| 350 |
+
kp: 37.418601989746094
|
| 351 |
+
kd: 1.0290013551712036
|
| 352 |
+
effort_limit: 60.0
|
| 353 |
+
velocity_limit: 50.0
|
| 354 |
+
foot_roll_l:
|
| 355 |
+
kp: 37.418601989746094
|
| 356 |
+
kd: 1.0290013551712036
|
| 357 |
+
effort_limit: 60.0
|
| 358 |
+
velocity_limit: 50.0
|
| 359 |
+
foot_roll_r:
|
| 360 |
+
kp: 37.418601989746094
|
| 361 |
+
kd: 1.0290013551712036
|
| 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: /root/rc/logs/rsl_rl/humanoid_v1_locomotion/r16lat_g220/model_9999.pt
|
r16lat_g220/model_9999.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a512a3a43b727e4b3afaf4d1b890d07b31a212619b1ccb22edc32d7e1aeb6f7a
|
| 3 |
+
size 7475573
|
r16lat_g220/policy.onnx
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fe72c1637502cc15d906b1682e891a8b243c76e0a4311b0239c30a52d20f1c0d
|
| 3 |
+
size 1584867
|
r16lat_g220/policy.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:49046a64520152d93587dec5b47b06e3c8a9a64b4e75e0ef485eaba7bf7d11a6
|
| 3 |
+
size 1596822
|