Add r16_h_cmd (report-16 sky slate, measured gait sweep 0.5/0.8/1.2)

Add r16_h_ankle (report-16 sky slate, measured gait sweep 0.5/0.8/1.2)

Add r16_h2_noar (report-16 sky slate, measured gait sweep 0.5/0.8/1.2)

Add r16_final_act (report-16 sky slate, measured gait sweep 0.5/0.8/1.2)

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Add r16_footlift (report-16 one-change-at-a-time, measured gait in physical units)

Add r16_latency_g200 (report-16 one-change-at-a-time, measured gait in physical units)

Add r16_latency (report-16 one-change-at-a-time, measured gait in physical units)

Add r16_control (report-16 one-change-at-a-time, measured gait in physical units)

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Correct bigstep card: invalid reward-term comparison -> measured m/s (0.009); attribute failure to foot-lift

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Add u4_walk_bigstep_v1 (25k iters, negative result: ties crouch_real, nogait still best)

Add squat policy u4_squat_hinge_v5b (hip-hinge, hold+cycle, ~0.10m)

Add crouch_nogait: crouch walker WITHOUT gait clock (model_21999, tvel 1.5 - walks fine sans clock; recovered from stranded VM)

Add stand_env_upright: OLD-IMU baseline stander (model_14999) - anchor of the IMU A/B (recovered from stranded VM)

Add u4_walk_crouch_real_imudr: new-IMU crouch walker (model_21999, IMU A/B vs u4_walk_crouch_real)

Add stand_env_upright_imudr: new-IMU stander (model_14999, IMU A/B partner vs stand_env_upright)

Add stand_env_upright_kp200kd15 (new IMU, kp200kd15, standing capturestep, ~model_14600 near-final)

Add stand_env_upright_kd15 (new IMU, kd15, standing capturestep, ~model_14600 near-final)

Add cycle_env_v1 cycle deploy bundle

Add cycle_pd200_v1 cycle deploy bundle

Add u4_walk_crouch_soft: crouch A/B soft/compliant legs, 22k. tvel 0.74, eplen 646 (lost to real gains)

Add u4_walk_crouch_real: crouch A/B real 180/5 gains (deployable), 22k. tvel 1.10, eplen 864 (WON crouch A/B)

Add ab_baseline_scratch: scratch A/B baseline (MaxonHEJMotor), from-scratch 25k. plateau reward 9.0 (WON from scratch, stable)

Add ab_envelope_scratch: scratch A/B envelope (drive-envelope legs), from-scratch 25k. plateau reward 2.9 (LOST to baseline 9.0 from scratch)

Add walk26 envelope A/B bundle: walk26 A/B baseline: MaxonHEJMotor software clip legs. plateau reward 9.6, eplen 751, seed42/8000it

Add walk26 envelope A/B bundle: walk26 A/B WINNER: maxon native PhysX drive-envelope legs. plateau reward 23.4 (vs baseline 9.6), eplen 857, seed42/8000it

Add standing ablation bundle: sysid seed2 — standing ablation C (PACE dynamics fold-in), plateau reward 21, survival 794/1000

Add standing ablation bundle: v9base seed3 — standing ablation A, plateau reward 57, survival 966/1000 (best stander)

Sync deploy checkpoints (2026-07-10T18:00:06Z)

Sync deploy checkpoints (2026-07-08T20:22:35Z)

Sync deploy checkpoints (2026-07-08T18:17:10Z)

policy: walking-test-psu (remap-exported)

policy: u4_stand_harden_v10

v9 standing+push (faithful HEJ/RobStride actuators)

Sync deploy checkpoints (2026-06-29T13:54:05Z)

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

Sync deploy checkpoints (2026-06-29T07:40:01Z)

Sync deploy checkpoints (2026-06-29T07:17:32Z)

Sync policy checkpoints (2026-06-25T14:10:16Z)

Sync policy checkpoints (2026-06-25T14:03:13Z)

Add pure-IMU arm-pointing policy (u4_imu_arm_pure)

Add IMU-point suspended validator deploy bundle (u4_imu_point)

Sync deploy checkpoints (2026-06-17T21:39:26Z)

Add ankle v2 deploy bundle (test)

Add cycle p200 deploy bundle (test)

Sync deploy checkpoints (2026-06-16T16:20:25Z)