Add safe ONNX viewer example video

.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+media/onnx_viewer_example.mp4 filter=lfs diff=lfs merge=lfs -text

README.md

@@ -11,6 +11,11 @@ An asymmetric Microduck one-foot-balance policy trained using the new
 decomposed **full exterior-shell collision model**. It keeps the right foot
 lifted while using the left foot as support.
 
+<video controls muted loop src="https://huggingface.co/Teethyfish/microduck-collision-flamingo-ii/resolve/main/media/onnx_viewer_example.mp4" style="max-width:640px;width:100%"></video>
+
+The video above records the supported safe ONNX `scripts/infer_policy.py`
+viewer with the full-shell collision model and nominal physics.
+
 > [!IMPORTANT]
 > The policy was observed to work only through the safe ONNX
 > `scripts/infer_policy.py` deployment-rehearsal path, with randomization off.
@@ -57,9 +62,9 @@ an action-scale override when reproducing the observed case.
 | `uv run play ... --viewer viser` | Did not reproduce the behavior |
 | Real Microduck hardware | Never tested |
 
-No quantitative evaluation battery or preview recording exists for this
-checkpoint. The statement above records the observed result without converting
-it into an unsupported success-rate claim.
+The included example video records the supported nominal ONNX-viewer result.
+No quantitative evaluation battery exists for this checkpoint, so the model
+card does not convert that recording into an unsupported success-rate claim.
 
 ## Policy contract
 
@@ -109,6 +114,7 @@ and `config/` for the serialized environment and PPO configuration.
 
 - `policy.onnx` — deployable policy with observation normalizer
 - `manifest.json` — machine-readable contract and limitations
+- `media/onnx_viewer_example.mp4` — example from the supported safe ONNX viewer
 - `checkpoints/model_11500.pt` — resumable exported training checkpoint
 - `checkpoints/resume_parent_model_8750.pt` — immediate resume parent
 - `config/env.yaml`, `config/agent.yaml` — instantiated training configuration

checksums.sha256

@@ -5,8 +5,9 @@ b93f6d9fcad26ee2c44b6b82349848759368e51a89421c91357b7509b6aaf6b4  policy.onnx
 81c94b062937157b7a9307ff8b587f5dd09a8e22dda0c6fb42e6be260bf56cbb  config/env.yaml
 45f3476af2b5bba1c3199aadb8372ec1bb08496ca91b08dec78543addd5c8440  reproduction/pyproject.toml
 2eeeb680025baa737e7ccf3a87da3695a9d49b228de0bb60d8af0c022ab5f1aa  reproduction/uv.lock
-66480738412ba9125e47e28d2b32f3c5f59490b319941416b9feb723bd073236  manifest.json
-ad6a0558b515cd630c25ae4832e118ddd07e99a19aaabedbe0d8b010e0eea884  README.md
+de47b2b320ccc853c96fc24b04e03ea504715d9ab4838ef012944bad579b7f96  manifest.json
+ab443c88793540da51ee6194f2247c82a964fa4a4f8b84733784f4b2254afcd5  README.md
+e6b906f8a251e4cf902409ab317aa549c506d391f0a5febcd4ca1fd4f40bb591  media/onnx_viewer_example.mp4
 b322fb842ead0a730fd0dd4973dc5a42c8f4ec136ad64ed76d442cf6ef7e9e84  reproduction/README.md
 db8701d27ad43d9fd78f6e031cf9c119d1ab7429793d8a9e928ef1b9efb471c2  reproduction/source-overlay/src/mjlab_microduck/tasks/generated_tasks/one_leg_stand_no_ball.py
 94b8a6d94913b4668652c7a86bd6b34cf5847316b62482fd4c72b784c33ce7e2  reproduction/source-overlay/src/mjlab_microduck/robot/microduck/robot_fullcollisions.xml

manifest.json

@@ -70,15 +70,17 @@
   "validation": {
     "supported_path": "scripts/infer_policy.py with --standing, --new-cmd-obs, --collision-model full_shell, and randomization disabled",
     "observed_result": "Nominal one-foot standing worked in the safe ONNX deployment-rehearsal viewer.",
+    "example_video": "media/onnx_viewer_example.mp4",
     "unsupported_paths": [
       "mjlab uv run play with the native viewer",
       "mjlab uv run play with the Viser viewer",
       "scripts/infer_policy.py with --training-randomization"
     ],
-    "known_limits": "The same behavior did not reproduce in the native/Viser checkpoint viewers. It has not been validated under training-style randomization or on hardware. No quantitative evaluation battery or preview recording is available."
+    "known_limits": "The same behavior did not reproduce in the native/Viser checkpoint viewers. It has not been validated under training-style randomization or on hardware. The example video shows the nominal safe ONNX-viewer result; no quantitative evaluation battery is available."
   },
   "files": {
     "policy": "policy.onnx",
+    "example_video": "media/onnx_viewer_example.mp4",
     "training_checkpoint": "checkpoints/model_11500.pt",
     "resume_parent_checkpoint": "checkpoints/resume_parent_model_8750.pt",
     "environment_config": "config/env.yaml",

media/onnx_viewer_example.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6b906f8a251e4cf902409ab317aa549c506d391f0a5febcd4ca1fd4f40bb591
+size 5130804