AgiBot Lingxi X1 · published weights
walk with shoulder pitch following the gait (walk_leg_arm mode)
Record
- Robot
- AgiBot Lingxi X1 agibot/x1
- Framework
- ONNX Runtime in AimRT rl_control_module · other
- Policy license
- not stated by the package · robot software repos: MulanPSL-2.0
- File
- src/module/control_module/policy/rl_walk_leg_shoulder.onnx
- Note
- The joystick doc says to use this mode on the real robot, because the models were updated iteratively.
Not in the tab yet
To replay this policy in the browser we need an ONNX export of the named checkpoint, the observation and action contract copied from the authors' own sim2sim or deploy script, and a MuJoCo model of the robot that the contract matches. Then it must walk 60 s in our runtime without a fall. Until then the source link is the way in.
Other AgiBot Lingxi X1 policies · 2
- walk, legs only (upper body held still), joystick velocity commandsONNX Runtime in AimRT rl_control_module, 1 kHz control; trained with agibot_x1_train (Isaac Gym, humanoid-gym style PPO)
- x1_dh_stand training recipe (standing/walking, 12 leg actions)Isaac Gym Preview 4 + rsl_rl-style PPO (legged_gym / humanoid-gym lineage)