Dropbear · published weights

walk, flat ground (v0.1.0, validated in sim)

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_v0.1.0/policy.onnx
Source: https://github.com/Hyperspawn/dropbear-locomotion
Note: ONNX actor; keep policy.onnx.data beside it. 58 inputs, 14 joint-position actions at 50 Hz. 128/128 zero-fall 20 s trials at 0.20 m/s (forward, backward, left, right) on a plane, pushes off. TorchScript policy.pt and the full model_8745.pt are alongside. CC BY-NC-SA 4.0: non-commercial.

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 Dropbear policies · 1

walk over low obstacles (v0.2.0, experimental)Isaac Lab + RSL-RL PPO