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humanoidrobots.training

Duke Humanoid v1 · published weights

walk, velocity tracking (baseline)

Source ↗Duke Humanoid v1 robot page

Record

Robot
Duke Humanoid v1 duke/duke-humanoid
Framework
Isaac Gym + rl_games (legged_env) · Isaac Gym
Policy license
not stated by the package · robot software repos: MIT
File
checkpoint/baseline/policy.onnx
Source
https://github.com/generalroboticslab/dukeHumanoidHardwareControl

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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 Duke Humanoid v1 policies · 2