publish ORCS v0.1.0 release models

Four behavior-validated RSL-RL checkpoints with provenance, checksums, and redistribution notices.

LICENSE

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2026, Lokesh Krishna
+All rights reserved.
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LICENSES/Apache-2.0.txt

@@ -0,0 +1,93 @@
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LICENSES/NVIDIA-OPEN-MODEL-LICENSE.txt

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+---
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+Version Release Date: October 24, 2025

NOTICE

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+ORCS — Oracle Robot Control Synthesis
+Copyright 2026 Lokesh Krishna <lkrajan@usc.edu>
+
+ORCS's original code and documentation are licensed under BSD-3-Clause.
+Adapted code and externally obtained models, datasets, and body-model files are
+not relicensed by ORCS. Their attribution and terms are recorded in
+THIRD_PARTY_NOTICES.md and LICENSES/.

Orcs-Dodge-AdaptSonic/checkpoint.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7f7e1418617102602567a20c45ec7675123f6ddf962b9586c76625915e85b0bd
+size 65248970

Orcs-Dodge-AdaptSonic/provenance.json

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+{
+  "task_id": "Orcs-Dodge-AdaptSonic",
+  "release": "v0.1.0",
+  "format": "complete RSL-RL training checkpoint",
+  "selection": "behavior-validated best checkpoint",
+  "source_run": "vbp/dodgeball/rw1nl2rz",
+  "source_name": "model_7500.pt",
+  "iteration": 7500,
+  "size_bytes": 65248970,
+  "sha256": "7f7e1418617102602567a20c45ec7675123f6ddf962b9586c76625915e85b0bd",
+  "published": "2026-09-11"
+}

Orcs-PerLoco-Grail-AdaptSonic/checkpoint.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e0560696f0807ddb320a81151ad674fe29991f61583ea9ba1cd5722886c546
+size 66424905

Orcs-PerLoco-Grail-AdaptSonic/provenance.json

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+{
+  "task_id": "Orcs-PerLoco-Grail-AdaptSonic",
+  "release": "v0.1.0",
+  "format": "complete RSL-RL training checkpoint",
+  "selection": "behavior-validated best checkpoint",
+  "source_run": "vbp/perceptive-locomotion/j3t9u148",
+  "source_name": "model_14999.pt",
+  "iteration": 14999,
+  "size_bytes": 66424905,
+  "sha256": "d6e0560696f0807ddb320a81151ad674fe29991f61583ea9ba1cd5722886c546",
+  "published": "2026-09-11"
+}

Orcs-PerLoco-OmRe-AdaptSonic/checkpoint.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:06961a311e7ec5b44eb5f41085873d2ffce8c5c20413b7a8a6ae76edae50c605
+size 66424905

Orcs-PerLoco-OmRe-AdaptSonic/provenance.json

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+{
+  "task_id": "Orcs-PerLoco-OmRe-AdaptSonic",
+  "release": "v0.1.0",
+  "format": "complete RSL-RL training checkpoint",
+  "selection": "behavior-validated best checkpoint",
+  "source_run": "vbp/perceptive-locomotion/9blcrqja",
+  "source_name": "model_10500.pt",
+  "iteration": 10500,
+  "size_bytes": 66424905,
+  "sha256": "06961a311e7ec5b44eb5f41085873d2ffce8c5c20413b7a8a6ae76edae50c605",
+  "published": "2026-09-11"
+}

Orcs-Uolm-AdaptSonic/checkpoint.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:74c9bb3f1e58130eda87c9995b6f0c14b0077e28e5e01cf610725dba57714a50
+size 67843785

Orcs-Uolm-AdaptSonic/provenance.json

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+{
+  "task_id": "Orcs-Uolm-AdaptSonic",
+  "release": "v0.1.0",
+  "format": "complete RSL-RL training checkpoint",
+  "selection": "behavior-validated best checkpoint",
+  "source_run": "vbp/omni-object/gcyrhxjr",
+  "source_name": "model_19999.pt",
+  "iteration": 19999,
+  "size_bytes": 67843785,
+  "sha256": "74c9bb3f1e58130eda87c9995b6f0c14b0077e28e5e01cf610725dba57714a50",
+  "published": "2026-09-11"
+}

README.md

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+---
+license: other
+license_name: nvidia-open-model-license
+license_link: https://huggingface.co/lkrajan/orcs/blob/v0.1.0/LICENSES/NVIDIA-OPEN-MODEL-LICENSE.txt
+library_name: orcs
+tags:
+  - robotics
+  - reinforcement-learning
+  - humanoid-control
+  - mujoco
+  - rsl-rl
+  - sonic
+---
+
+# ORCS release models
+
+Public release checkpoints for [ORCS — Oracle Robot Control Synthesis](https://github.com/lok-i/orcs).
+These are the behavior-validated checkpoints selected from the corresponding private training
+runs. The W&B project is not required to download or play them.
+
+## Play immediately
+
+After installing ORCS and its pinned dependencies:
+
+```bash
+# Optional: download and verify every checkpoint up front.
+bash scripts/setup/download_released_models.sh
+
+# Or let play download only the selected checkpoint on first use.
+play Orcs-Dodge-AdaptSonic --agent release --viewer native
+play Orcs-PerLoco-Grail-AdaptSonic --agent release --viewer native
+play Orcs-PerLoco-OmRe-AdaptSonic --agent release --viewer native
+play Orcs-Uolm-AdaptSonic --agent release --viewer native
+```
+
+Downloads are cached by release tag under `~/.cache/orcs/releases` by default and are verified
+against the SHA-256 values in `release.json`. Set `ORCS_RELEASE_ROOT` to move the cache.
+
+## Contents
+
+| task | checkpoint | training iteration |
+|---|---|---:|
+| `Orcs-Dodge-AdaptSonic` | `Orcs-Dodge-AdaptSonic/checkpoint.pt` | 7,500 |
+| `Orcs-PerLoco-Grail-AdaptSonic` | `Orcs-PerLoco-Grail-AdaptSonic/checkpoint.pt` | 14,999 |
+| `Orcs-PerLoco-OmRe-AdaptSonic` | `Orcs-PerLoco-OmRe-AdaptSonic/checkpoint.pt` | 10,500 |
+| `Orcs-Uolm-AdaptSonic` | `Orcs-Uolm-AdaptSonic/checkpoint.pt` | 19,999 |
+
+Each `.pt` file is the complete RSL-RL training checkpoint: actor, critic, optimizer state,
+iteration, and run metadata. ORCS loads the actor for inference. ONNX exports are intentionally
+not included in this release.
+
+The PerLoco and UOLM tasks require their matching motion/terrain/object datasets and assets; use
+the setup workflows in the ORCS repository. The dodge task has no external motion dataset.
+
+## Versioning and provenance
+
+Use the immutable `v0.1.0` revision for reproducible downloads. `release.json` records the exact
+file paths, byte sizes, checksums, and validated Mocke/RSL-RL revisions. Each task folder also
+contains a small `provenance.json`; private W&B run IDs are retained only as lineage identifiers.
+
+## License
+
+The checkpoints incorporate SONIC model weights and are distributed under the
+[NVIDIA Open Model License](LICENSES/NVIDIA-OPEN-MODEL-LICENSE.txt). Licensed by NVIDIA
+Corporation under the NVIDIA Open Model License.
+
+ORCS-authored code and documentation are BSD-3-Clause. Adapted code and all external models,
+datasets, assets, and body-model files retain their respective terms; see `NOTICE`,
+`THIRD_PARTY_NOTICES.md`, and `LICENSES/`.
+
+These are special-purpose robotics control models. Validate them in simulation before any use on
+hardware.

THIRD_PARTY_NOTICES.md

@@ -0,0 +1,44 @@
+# Third-party notices
+
+The BSD-3-Clause license at the repository root applies only to original ORCS
+material. Third-party material retains its upstream terms.
+
+## Adapted code
+
+`src/orcs/tasks/dodge/mdp/rewards.py::ball_clearance` adapts MimicKit's
+`compute_dodge_reward` from its SMP dodgeball environment.
+
+- Source: [xbpeng/MimicKit](https://github.com/xbpeng/MimicKit)
+- License: Apache-2.0; see `LICENSES/Apache-2.0.txt`
+- Citation: Xue Bin Peng, *MimicKit: A Reinforcement Learning Framework for
+  Motion Imitation and Control*, arXiv:2510.13794, 2025.
+
+## Research provenance
+
+ORCS's virtual-assistance implementation and SMPL seed-state pipeline were
+written for this repository. They build on ideas described by the following
+works; no source code from them is bundled here:
+
+- Mandi Zhao, Yifan Hou, Dieter Fox, Yashraj Narang, Ajay Mandlekar, and
+  Shuran Song, *DexMachina: Functional Retargeting for Bimanual Dexterous
+  Manipulation*, arXiv:2505.24853, 2025.
+- Siheng Zhao, Yanjie Ze, Yue Wang, C. Karen Liu, Pieter Abbeel, Guanya Shi,
+  and Rocky Duan, *ResMimic: From General Motion Tracking to Humanoid
+  Whole-body Loco-Manipulation via Residual Learning*, arXiv:2510.05070, 2025.
+
+## External dependencies and data
+
+The following projects are resolved separately and are not relicensed or
+bundled in the ORCS Python distribution:
+
+| Dependency or data | Use | Upstream terms |
+|---|---|---|
+| [SONIC](https://github.com/NVlabs/GR00T-WholeBodyControl) via Mocke | Frozen motion prior and compatible contracts | Apache-2.0 code; NVIDIA Open Model License weights |
+| [GRAIL](https://github.com/NVlabs/GRAIL) | Terrain-motion source data and staging tools | NVIDIA's upstream repository and data terms |
+| [OmniRetarget Dataset](https://huggingface.co/datasets/omniretarget/OmniRetarget_Dataset) | Retargeted terrain and object motions | MIT as declared by its dataset card |
+| [SMPL-X](https://smpl-x.is.tue.mpg.de/) | Manually supplied body-model files | SMPL-X model license |
+| [mjlab](https://github.com/mujocolab/mjlab), [RSL-RL](https://github.com/leggedrobotics/rsl_rl), and the installed assets package | Simulation, learning, and model assets | Their respective distributions and licenses |
+
+Users are responsible for obtaining restricted datasets and body models and
+for complying with their terms. A citation or acknowledgement does not replace
+a license.

release.json

@@ -0,0 +1,51 @@
+{
+  "schema": "orcs.release.v1",
+  "repo_id": "lkrajan/orcs",
+  "revision": "v0.1.0",
+  "compatibility": {
+    "mocke": "d7e2bbe22fbb93231cc12a738eb2585771081ca6",
+    "rsl_rl": "7a28369ae0295a232ff3dad9913e811ee87cf4d0"
+  },
+  "models": {
+    "Orcs-Dodge-AdaptSonic": {
+      "checkpoint": {
+        "path": "Orcs-Dodge-AdaptSonic/checkpoint.pt",
+        "source_name": "model_7500.pt",
+        "iteration": 7500,
+        "size_bytes": 65248970,
+        "sha256": "7f7e1418617102602567a20c45ec7675123f6ddf962b9586c76625915e85b0bd"
+      },
+      "source_run": "vbp/dodgeball/rw1nl2rz"
+    },
+    "Orcs-PerLoco-Grail-AdaptSonic": {
+      "checkpoint": {
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