Pupper v3 · published recipe
three-legged walking
Record
- Robot
- Pupper v3 stanford/pupper-v3
- Framework
- MuJoCo MJX + Brax PPO (pupperv3-mjx) · MuJoCo Playground / MJX
- Policy license
- not stated by the package · robot software repos: AGPL-3.0 AND GPL-3.0 AND MIT
- File
- ros2_ws/src/neural_controller/launch/policy_rich-donkey-233_max_reward_19.16.json
- Note
- Used by the neural_controller_three_legged entry in config.yaml. Git LFS.
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To replay this policy in the browser we need an ONNX export of a trained 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 Pupper v3 policies · 1
- velocity-tracking locomotion from joystick (default walking policy)MuJoCo MJX + Brax PPO (pupperv3-mjx), JSON weights run by the neural_controller ROS 2 node