{ "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 }