Dropbear · published weights

walk over low obstacles (v0.2.0, experimental)

Record

Robot: Dropbear hyperspawn/dropbear
Framework: Isaac Lab + RSL-RL PPO · Isaac Lab
Policy license: not stated by the package · robot software repos: MIT AND CC-BY-NC-SA-4.0
File: checkpoints/dropbear_locomotion_v0.2.0/model_10479.pt
Source: https://github.com/Hyperspawn/dropbear-locomotion
Note: Adds a 104-value terrain-height scan (162 inputs). Trained on 3-14 cm boxes at +0.20 m/s; not converged, no deterministic evaluation yet (84.5% time-outs at the last update). CC BY-NC-SA 4.0: non-commercial.

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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 Dropbear policies · 1

walk, flat ground (v0.1.0, validated in sim)Isaac Lab + RSL-RL PPO