# Changelog

## v0.2.1 — 2026-07-27

- Added six direction-aligned obstacle modes with terrain-matched planar and
  turning commands.
- Added reproducible Stage 66 continuation tooling with equal left/right knee
  and step-through weights.
- Added directional-obstacle support to the live training viewer.
- Fixed manual playback instability by allowing the validated actor to remain
  pinned while checkpoint metrics and live-training state continue updating.
- Fixed compact-atlas terrain selection by mapping trainer and viewer tiles by
  semantic label instead of numeric column.
- Added bidirectional interpolation between genuine consecutive RTX frames,
  with hard cuts for scene resets and unwarped HUD regions.
- Added measured simulation/render rates and separate runtime-derived
  simulation, render, and display hardware labels.
- This patch contains no new policy checkpoint; Stage 66d continues training.

## v0.2.0 — 2026-07-27

Experimental terrain and live-training update.

- Released the Stage 65b checkpoint at iteration 10479 and its terrain-scan
  branch parent at iteration 10280.
- Expanded actor/critic observations to 162/176 values with a 104-sample
  terrain-height scan and a zero-output checkpoint adapter.
- Added 35/65 flat/anchored-box terrain generation with curriculum difficulty.
- Added bilateral timing, alternating-knee, step-through, foot-flight,
  pendulum-roll, inter-foot approach, and late-swing touchdown shaping.
- Added cardinal velocity weighting and survival-gated speed curricula through
  1.0 m/s.
- Added real training-environment state passthrough to the split-GPU viewer.
- Added a `MANUAL CONTROL` / `TRAIN LIVE • DR` button, saved-state mode
  switching, live terrain/mass/friction telemetry, and smoothed trainer-state
  rendering.
- Published the final live interface screenshot, Stage 65b metrics plot,
  resolved configs, TensorBoard history, and machine-readable intermediate
  evaluations.

## v0.1.0 — 2026-07-27

First public checkpoint release.

- Released the Stage 46 RSL-RL checkpoint at iteration 8745.
- Added COM velocity/height references and direct planar velocity commands.
- Added natural arm-swing shaping and counterweight suppression.
- Added inter-foot distance, lateral-order, approach, and touchdown shaping.
- Added mechanically constrained stand/crouch/stand-up pose guidance.
- Added deterministic evaluation with foot-clearance and cardinal-motion metrics.
- Added a hardware-aware, resizable live viewer with:
  - analog robot-velocity joystick;
  - click-drag orbit camera;
  - world-space fading footprints and COM trail;
  - stacked motion telemetry and checkpoint/loss history;
  - separate simulation-GPU and display-GPU reporting.
- Exported the actor as RSL-RL, TorchScript, and ONNX artifacts.