Download run.json from hvsr-robotics/wojtek-stiff-height-locomotion: direct link, hf CLI and curl.
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- Download file 8.69 kB
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https://huggingface.co/hvsr-robotics/wojtek-stiff-height-locomotion/resolve/main/run.json
- Command line
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hf download hf://hvsr-robotics/wojtek-stiff-height-locomotion/run.json
-
curl -L -o run.json https://huggingface.co/hvsr-robotics/wojtek-stiff-height-locomotion/resolve/main/run.json
8.69 kB
| { | |
| "run_name": "wojtek_stiff_h7_height_20260727_seed1", | |
| "task": "joystick", | |
| "num_timesteps": 2000000000, | |
| "early_stopped": true, | |
| "stopped_at_steps": 1572864000, | |
| "final_reward": 61.89657211303711, | |
| "checkpoint_dir": "/workspace/wojtek/training/runs/wojtek_stiff_h7_height_20260727_seed1/checkpoints", | |
| "env_config": { | |
| "abduction_ctrl_limit": 0.44, | |
| "action_delay": 1, | |
| "action_filter": 0.0, | |
| "action_scale": [ | |
| 0.25, | |
| 0.5, | |
| 0.5 | |
| ], | |
| "command": { | |
| "arc_prob": 0.2, | |
| "arc_vx": [ | |
| 0.3, | |
| 1.2 | |
| ], | |
| "fast_vx": [ | |
| 0.8, | |
| 1.2 | |
| ], | |
| "height": [ | |
| 0.11, | |
| 0.18 | |
| ], | |
| "pure_fast_prob": 0.2, | |
| "pure_slow_prob": 0.15, | |
| "pure_vy_prob": 0.2, | |
| "pure_wz_prob": 0.25, | |
| "resample_steps": 250, | |
| "slow_vx": [ | |
| 0.1, | |
| 0.35 | |
| ], | |
| "vx": [ | |
| -0.8, | |
| 1.2 | |
| ], | |
| "vy": [ | |
| -0.5, | |
| 0.5 | |
| ], | |
| "wz": [ | |
| -1.5, | |
| 1.5 | |
| ], | |
| "zero_prob": 0.25 | |
| }, | |
| "ctrl_dt": 0.02, | |
| "encoder": { | |
| "enable": true, | |
| "range": 0.02 | |
| }, | |
| "episode_length": 1000, | |
| "fall": { | |
| "max_tilt_gz": -0.4, | |
| "min_height": 0.06 | |
| }, | |
| "gait": { | |
| "air_time_cap": 0.35, | |
| "duty": [ | |
| 0.7, | |
| 0.5 | |
| ], | |
| "freq": [ | |
| 1.4, | |
| 3.0 | |
| ], | |
| "swing_height": 0.08, | |
| "trot_band": [ | |
| 0.35, | |
| 0.55 | |
| ] | |
| }, | |
| "knee_target_max": 3.15, | |
| "latency": { | |
| "enable": true, | |
| "max_substeps": 5, | |
| "min_substeps": 0 | |
| }, | |
| "max_torque": 9.0, | |
| "obs": { | |
| "include": [ | |
| "joint_pos", | |
| "joint_vel", | |
| "last_act", | |
| "command" | |
| ], | |
| "privileged": [ | |
| "gyro", | |
| "gravity", | |
| "joint_pos", | |
| "joint_vel", | |
| "last_act", | |
| "command", | |
| "phase", | |
| "linvel", | |
| "foot_contact" | |
| ], | |
| "state": [ | |
| "gyro", | |
| "gravity", | |
| "joint_pos", | |
| "joint_vel", | |
| "last_act", | |
| "command", | |
| "phase" | |
| ] | |
| }, | |
| "obs_noise": { | |
| "gravity": 0.05, | |
| "gyro": 0.2, | |
| "joint_pos": 0.01, | |
| "joint_vel": 1.5 | |
| }, | |
| "pd_kd": 1.6, | |
| "pd_kp": 40.0, | |
| "push": { | |
| "enable": true, | |
| "interval_steps": 200, | |
| "vel": 0.8 | |
| }, | |
| "real_pose_ref": true, | |
| "reward": { | |
| "apex_target": 0.05, | |
| "glide_height": 0.03, | |
| "height_sigma": 0.001, | |
| "phase_sigma": 0.002, | |
| "pose_leg_weight": 0.1, | |
| "scales": { | |
| "action_accel": 0.0, | |
| "action_rate": -0.25, | |
| "ang_vel_xy": 0.0, | |
| "contact_match": 0.0, | |
| "energy": 0.0, | |
| "feet_air_time": 4.0, | |
| "feet_apex": 5.0, | |
| "feet_landing": -0.5, | |
| "feet_phase": 0.0, | |
| "feet_slip": -0.35, | |
| "height_tracking": 1.0, | |
| "high_step": 4.0, | |
| "lin_vel_z": 0.0, | |
| "orientation": -5.0, | |
| "pose": -1.0, | |
| "stand_feet_down": -30.0, | |
| "stand_still": -2.5, | |
| "termination": -1.0, | |
| "torque_limit": -0.1, | |
| "torque_rate": -0.02, | |
| "torques": -0.0006, | |
| "tracking_ang_vel": 1.6, | |
| "tracking_lin_vel": 4.0 | |
| }, | |
| "torque_limit_frac": 0.85, | |
| "tracking_far_sigma": 2.5, | |
| "tracking_far_weight": 0.0, | |
| "tracking_product": true, | |
| "tracking_rel_floor_ang": 0.4, | |
| "tracking_rel_floor_lin": 0.3, | |
| "tracking_rel_sigma": 0.25, | |
| "tracking_relative": true, | |
| "tracking_sigma": 0.1 | |
| }, | |
| "sim": { | |
| "backend": "auto", | |
| "naconmax_per_env": 32, | |
| "njmax": 320, | |
| "num_envs": 8192 | |
| }, | |
| "sim_dt": 0.004, | |
| "symmetry": { | |
| "enable": true, | |
| "mirror_prob": 0.5 | |
| } | |
| }, | |
| "ppo_config": { | |
| "action_repeat": 1, | |
| "batch_size": 256, | |
| "discounting": 0.97, | |
| "entropy_cost": 0.01, | |
| "episode_length": 1000, | |
| "learning_rate": 0.0003, | |
| "max_grad_norm": 1.0, | |
| "network_factory": { | |
| "policy_hidden_layer_sizes": [ | |
| 512, | |
| 256, | |
| 128 | |
| ], | |
| "policy_obs_key": "state", | |
| "value_hidden_layer_sizes": [ | |
| 512, | |
| 256, | |
| 128 | |
| ], | |
| "value_obs_key": "privileged_state" | |
| }, | |
| "normalize_observations": true, | |
| "num_envs": 8192, | |
| "num_evals": 40, | |
| "num_minibatches": 32, | |
| "num_resets_per_eval": 10, | |
| "num_timesteps": 2000000000, | |
| "num_updates_per_batch": 4, | |
| "reward_scaling": 1.0, | |
| "unroll_length": 20 | |
| }, | |
| "hydra_config": { | |
| "task": { | |
| "name": "joystick", | |
| "env": { | |
| "obs": { | |
| "state": [ | |
| "gyro", | |
| "gravity", | |
| "joint_pos", | |
| "joint_vel", | |
| "last_act", | |
| "command", | |
| "phase" | |
| ], | |
| "privileged": [ | |
| "gyro", | |
| "gravity", | |
| "joint_pos", | |
| "joint_vel", | |
| "last_act", | |
| "command", | |
| "phase", | |
| "linvel", | |
| "foot_contact" | |
| ], | |
| "include": [ | |
| "joint_pos", | |
| "joint_vel", | |
| "last_act", | |
| "command" | |
| ] | |
| }, | |
| "latency": { | |
| "enable": true, | |
| "min_substeps": 0, | |
| "max_substeps": 5 | |
| }, | |
| "encoder": { | |
| "enable": true, | |
| "range": 0.02 | |
| }, | |
| "action_scale": [ | |
| 0.25, | |
| 0.5, | |
| 0.5 | |
| ], | |
| "pd_kp": 40.0, | |
| "pd_kd": 1.6, | |
| "max_torque": 9.0, | |
| "abduction_ctrl_limit": 0.44, | |
| "knee_target_max": 3.15, | |
| "command": { | |
| "vx": [ | |
| -0.8, | |
| 1.2 | |
| ], | |
| "vy": [ | |
| -0.5, | |
| 0.5 | |
| ], | |
| "wz": [ | |
| -1.5, | |
| 1.5 | |
| ], | |
| "height": [ | |
| 0.11, | |
| 0.18 | |
| ], | |
| "zero_prob": 0.25, | |
| "pure_wz_prob": 0.25, | |
| "pure_vy_prob": 0.2, | |
| "arc_prob": 0.2, | |
| "arc_vx": [ | |
| 0.3, | |
| 1.2 | |
| ], | |
| "pure_slow_prob": 0.15, | |
| "slow_vx": [ | |
| 0.1, | |
| 0.35 | |
| ], | |
| "pure_fast_prob": 0.2, | |
| "fast_vx": [ | |
| 0.8, | |
| 1.2 | |
| ] | |
| }, | |
| "push": { | |
| "vel": 0.8 | |
| }, | |
| "gait": { | |
| "swing_height": 0.08, | |
| "air_time_cap": 0.35 | |
| }, | |
| "reward": { | |
| "tracking_sigma": 0.1, | |
| "pose_leg_weight": 0.1, | |
| "scales": { | |
| "tracking_lin_vel": 4.0, | |
| "tracking_ang_vel": 1.6, | |
| "height_tracking": 1.0, | |
| "lin_vel_z": 0.0, | |
| "ang_vel_xy": 0.0, | |
| "orientation": -5.0, | |
| "torques": -0.0006, | |
| "torque_rate": -0.02, | |
| "torque_limit": -0.1, | |
| "action_rate": -0.25, | |
| "action_accel": 0.0, | |
| "energy": 0.0, | |
| "pose": -1.0, | |
| "feet_air_time": 4.0, | |
| "feet_slip": -0.35, | |
| "feet_phase": 0.0, | |
| "contact_match": 0.0, | |
| "high_step": 4.0, | |
| "stand_still": -2.5, | |
| "stand_feet_down": -30.0, | |
| "termination": -1.0, | |
| "feet_landing": -0.5, | |
| "feet_apex": 5.0 | |
| }, | |
| "tracking_product": true, | |
| "tracking_relative": true, | |
| "apex_target": 0.05 | |
| }, | |
| "real_pose_ref": true, | |
| "symmetry": { | |
| "enable": true, | |
| "mirror_prob": 0.5 | |
| } | |
| }, | |
| "ppo": {} | |
| }, | |
| "network": {}, | |
| "run_name": "wojtek_stiff_h7_height_20260727_seed1", | |
| "seed": 1, | |
| "smoke": false, | |
| "restore": null, | |
| "domain_rand": true, | |
| "dr": { | |
| "com_offset": { | |
| "enable": false, | |
| "xy": 0.02, | |
| "z": 0.01 | |
| }, | |
| "joint_gains": { | |
| "enable": true, | |
| "gain_pct": 0.2, | |
| "kd_pct": 0.2 | |
| }, | |
| "dof": { | |
| "enable": false, | |
| "damping": [ | |
| 0.9, | |
| 1.1 | |
| ], | |
| "armature": [ | |
| 0.9, | |
| 1.1 | |
| ], | |
| "frictionloss": [ | |
| 0.9, | |
| 1.1 | |
| ] | |
| }, | |
| "foot_friction": { | |
| "enable": false, | |
| "range": [ | |
| 0.8, | |
| 1.2 | |
| ] | |
| }, | |
| "motor_strength": { | |
| "enable": true, | |
| "range": [ | |
| 0.5, | |
| 1.1 | |
| ] | |
| } | |
| }, | |
| "wandb": { | |
| "enable": true, | |
| "project": "fbb-locomotion" | |
| }, | |
| "early_stop": { | |
| "enable": true, | |
| "min_evals": 10, | |
| "patience": 8, | |
| "min_delta": 1.0 | |
| }, | |
| "ppo": { | |
| "num_timesteps": 2000000000, | |
| "num_evals": 40 | |
| } | |
| }, | |
| "kp": 40.0, | |
| "kd": 1.6 | |
| } |