r16lat_g290lock (wave-2 locked-arm gain, best-of checkpoint deployed)

r16lat_g290lock/README.md

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+# r16lat_g290lock — BEST-checkpoint bundle (model_7000), locked-arm gain 16
+290
+
+**`policy.pt`/`policy.onnx` = model_7000, the BEST checkpoint (0.866 m/s @ cmd 1.2),
+NOT the final model_9999 (0.705 m/s).** `model_9999.pt` retained for reference.
+
+| | |
+|---|---|
+| Task | `ETHRC-humanoidv1-walk-r17-g16
+290-lock-psu-v0` (locked arms) |
+| Deployed checkpoint | `model_7000.pt` (best of the run) |
+| Measured @ cmd 1.2 | 0.866 m/s |
+| Branch | `test/SjohnU_remodel_actuators` |
+| rsl-rl | 5.0.1 |
+
+## Report-17 WAVE 2 — locked-arm leg-gain sweep (g260-g300), best-of checkpoints
+
+Five locked-arm gain points off the r16-latency walker, 10k iters, 4096 envs, seed 42, branch
+`test/SjohnU_remodel_actuators`. Each policy is its BEST checkpoint by measured velocity at
+command 1.2 (best-of selection), NOT model_9999 -- which was best for NONE of these 5.
+
+| gain (locked-arm) | best ckpt | m/s @1.2 | model_9999 @1.2 |
+|---|---|---|---|
+| g260 | model_6000 | 0.908 | 0.736 |
+| g270 | model_6000 | 0.874 | 0.686 |
+| g280 | model_9000 | **0.937** | 0.664 |
+| g290 | model_7000 | 0.866 | 0.705 |
+| g300 | model_8000 | 0.879 | 0.777 |
+
+Within the locked-arm sweep, 260-300 is a plateau (~0.87-0.94 m/s), g280 marginally best.
+No strong gain trend in this range.
+
+### CAVEAT: do NOT read g210->g300 as one continuous curve
+
+Wave 1 (g210-g250) trained with FREE arms (`...-g{210..250}-psu-v0`); Wave 2 (g260-g300) trained
+with LOCKED arms (`...-g{260..300}-lock-psu-v0`). The variants differ AND the gain ranges do not
+overlap, so a cross-wave comparison confounds leg gain with arm-locking. Compare within a wave only:
+
+```
+FREE-arm  (wave 1, best-of):  g210 .838  g220 .981  g230 .884  g240 .958  g250 .925
+LOCKED-arm(wave 2, best-of):  g260 .908  g270 .874  g280 .937  g290 .866  g300 .879
+```
+
+Free-arm tops out higher (g220 0.981) than locked-arm (g280 0.937), but that difference is the
+arm-locking + higher gain range combined, not gain alone. A clean gain-vs-lock ablation would
+need matched gains with lock as the only toggle.
+
+### model_9999 is almost never the best
+
+Across all 10 gain arms (both waves), the final checkpoint was best only ~3 times. In wave 2 it was
+best 0 of 5. Deploy the best measured checkpoint, not the last.
+
+## Files
+- `policy.pt`, `policy.onnx` — the BEST checkpoint (model_7000)
+- `deploy.yaml` — deploy config (50 Hz)
+- `model_7000.pt` — best raw checkpoint · `model_9999.pt` — final, reference

r16lat_g290lock/deploy.yaml

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+experiment_name: r16lat_g290lock
+task: ETHRC-humanoidv1-walk-r17-g290-lock-psu-v0
+interface: lo
+sim2sim: true
+msg_type: go
+imu_type: base_link
+lowcmd_topic: rt/lowcmd
+lowstate_topic: rt/lowstate
+policy_path: policy.pt
+num_actions: 16
+action_scale: 0.25
+use_default_offset: true
+control_dt: 0.02
+policy_rate_hz: 50.0
+decimation: 4
+sim_dt: 0.005
+joint_names:
+- waist_upperbody_yaw
+- hip_central_rotation
+- neck_yaw
+- leg_flexion_l
+- leg_flexion_r
+- neck_pitch
+- leg_abduction_l
+- leg_abduction_r
+- hip_yaw_l
+- hip_yaw_r
+- knee_l
+- knee_r
+- foot_pitch_l
+- foot_pitch_r
+- foot_roll_l
+- foot_roll_r
+joint2motor_idx:
+- 0
+- 1
+- 2
+- 3
+- 4
+- 5
+- 6
+- 7
+- 8
+- 9
+- 10
+- 11
+- 12
+- 13
+- 14
+- 15
+default_angles:
+- 0.0
+- 0.0
+- 0.0
+- 0.18000000715255737
+- -0.18000000715255737
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- -0.3499999940395355
+- -0.3499999940395355
+- 0.18000000715255737
+- 0.18000000715255737
+- 0.0
+- 0.0
+kps:
+- 281.98712158203125
+- 281.98712158203125
+- 38.95669937133789
+- 281.98712158203125
+- 281.98712158203125
+- 38.95669937133789
+- 281.98712158203125
+- 281.98712158203125
+- 281.98712158203125
+- 281.98712158203125
+- 281.98712158203125
+- 281.98712158203125
+- 37.418601989746094
+- 37.418601989746094
+- 37.418601989746094
+- 37.418601989746094
+kds:
+- 34.331634521484375
+- 34.331634521484375
+- 0.9242613315582275
+- 34.331634521484375
+- 34.331634521484375
+- 0.9242613315582275
+- 34.331634521484375
+- 34.331634521484375
+- 34.331634521484375
+- 34.331634521484375
+- 34.331634521484375
+- 34.331634521484375
+- 1.0290013551712036
+- 1.0290013551712036
+- 1.0290013551712036
+- 1.0290013551712036
+effort_limits:
+- 128.0
+- 128.0
+- 40.0
+- 128.0
+- 128.0
+- 40.0
+- 128.0
+- 128.0
+- 128.0
+- 128.0
+- 128.0
+- 128.0
+- 60.0
+- 60.0
+- 60.0
+- 60.0
+articulation_joint_names:
+- waist_upperbody_yaw
+- hip_central_rotation
+- neck_yaw
+- shoulder_flexion_l
+- shoulder_flexion_r
+- leg_flexion_l
+- leg_flexion_r
+- neck_pitch
+- shoulder_abduction_l
+- shoulder_abduction_r
+- leg_abduction_l
+- leg_abduction_r
+- shoulder_rotation_l
+- shoulder_rotation_r
+- hip_yaw_l
+- hip_yaw_r
+- elbow_flexion_l
+- elbow_flexion_r
+- knee_l
+- knee_r
+- wrist_rotation_l
+- wrist_rotation_r
+- foot_pitch_l
+- foot_pitch_r
+- foot_roll_l
+- foot_roll_r
+articulation_default_angles:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.18000000715255737
+- -0.18000000715255737
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- -0.3499999940395355
+- -0.3499999940395355
+- 0.0
+- 0.0
+- 0.18000000715255737
+- 0.18000000715255737
+- 0.0
+- 0.0
+pd_per_joint:
+  waist_upperbody_yaw:
+    kp: 281.98712158203125
+    kd: 34.331634521484375
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  hip_central_rotation:
+    kp: 281.98712158203125
+    kd: 34.331634521484375
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_flexion_l:
+    kp: 281.98712158203125
+    kd: 34.331634521484375
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_flexion_r:
+    kp: 281.98712158203125
+    kd: 34.331634521484375
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_abduction_l:
+    kp: 281.98712158203125
+    kd: 34.331634521484375
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_abduction_r:
+    kp: 281.98712158203125
+    kd: 34.331634521484375
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  hip_yaw_l:
+    kp: 281.98712158203125
+    kd: 34.331634521484375
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  hip_yaw_r:
+    kp: 281.98712158203125
+    kd: 34.331634521484375
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  knee_l:
+    kp: 281.98712158203125
+    kd: 34.331634521484375
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  knee_r:
+    kp: 281.98712158203125
+    kd: 34.331634521484375
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  shoulder_flexion_l:
+    kp: 71.63602447509766
+    kd: 1.665215015411377
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  shoulder_flexion_r:
+    kp: 71.63602447509766
+    kd: 1.665215015411377
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  shoulder_abduction_l:
+    kp: 71.63602447509766
+    kd: 1.665215015411377
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  shoulder_abduction_r:
+    kp: 71.63602447509766
+    kd: 1.665215015411377
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  neck_yaw:
+    kp: 38.95669937133789
+    kd: 0.9242613315582275
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  neck_pitch:
+    kp: 38.95669937133789
+    kd: 0.9242613315582275
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  shoulder_rotation_l:
+    kp: 38.95669937133789
+    kd: 0.9242613315582275
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  shoulder_rotation_r:
+    kp: 38.95669937133789
+    kd: 0.9242613315582275
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  elbow_flexion_l:
+    kp: 38.95669937133789
+    kd: 0.9242613315582275
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  elbow_flexion_r:
+    kp: 38.95669937133789
+    kd: 0.9242613315582275
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  wrist_rotation_l:
+    kp: 38.95669937133789
+    kd: 0.9242613315582275
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  wrist_rotation_r:
+    kp: 38.95669937133789
+    kd: 0.9242613315582275
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  foot_pitch_l:
+    kp: 37.418601989746094
+    kd: 1.0290013551712036
+    effort_limit: 60.0
+    velocity_limit: 50.0
+  foot_pitch_r:
+    kp: 37.418601989746094
+    kd: 1.0290013551712036
+    effort_limit: 60.0
+    velocity_limit: 50.0
+  foot_roll_l:
+    kp: 37.418601989746094
+    kd: 1.0290013551712036
+    effort_limit: 60.0
+    velocity_limit: 50.0
+  foot_roll_r:
+    kp: 37.418601989746094
+    kd: 1.0290013551712036
+    effort_limit: 60.0
+    velocity_limit: 50.0
+obs_history_length: 5
+obs_single_frame_dim: 79
+obs_total_dim: 395
+obs_layout:
+- name: base_ang_vel
+  start: 0
+  end: 15
+  base_dim: 3
+  block_dim: 15
+  scale: 0.2
+- name: projected_gravity
+  start: 15
+  end: 30
+  base_dim: 3
+  block_dim: 15
+  scale: 1.0
+- name: velocity_commands
+  start: 30
+  end: 45
+  base_dim: 3
+  block_dim: 15
+  scale: 1.0
+  params:
+    command_name: base_velocity
+- name: joint_pos_rel
+  start: 45
+  end: 175
+  base_dim: 26
+  block_dim: 130
+  scale: 1.0
+- name: joint_vel_rel
+  start: 175
+  end: 305
+  base_dim: 26
+  block_dim: 130
+  scale: 0.05
+- name: last_action
+  start: 305
+  end: 385
+  base_dim: 16
+  block_dim: 80
+  scale: 1.0
+- name: gait_phase
+  start: 385
+  end: 395
+  base_dim: 2
+  block_dim: 10
+  scale: 1.0
+  params:
+    period: 0.6
+    command_name: base_velocity
+command_ranges:
+  lin_vel_x:
+  - -0.1
+  - 0.1
+  lin_vel_y:
+  - 0.1
+  - 0.8
+  ang_vel_z:
+  - -0.1
+  - 0.1
+checkpoint: /root/rc/logs/rsl_rl/humanoid_v1_locomotion/r16lat_g290lock/model_7000.pt

r16lat_g290lock/model_7000.pt

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+size 7091573

r16lat_g290lock/model_9999.pt

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+size 7091573

r16lat_g290lock/policy.onnx

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+size 1477307

r16lat_g290lock/policy.pt

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