---
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.