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wojtek-quiet-locomotion
hvsr-robotics/wojtek-quiet-locomotion
wojtek-quiet-locomotion is a machine learning model from hvsr-robotics. Use it for the machine learning task on the model card, and read the license before you ship it in a product.
Quiet-walking keeper for Wojtek: wojtekflatquietv10s0 (2026-08-12). Soft-landing gait on every linear command, step-turn spins (no jump-turns), trained without any gait choreography — the quietness comes from priced p…
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Updated Aug 25, 2026
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4.5 MB
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.npz2.3 MB · 51%
At a glance
- Access
- Public
- Created
- Aug 12, 2026
- Updated
- Aug 25, 2026
- SHA
- 46b5f299
Model card
From the Hugging Face model README
wojtek-quiet-locomotion
Quiet-walking keeper for Wojtek: wojtek_flat_quiet_v10_s0
(2026-08-12). Soft-landing gait on every linear command, step-turn spins
(no jump-turns), trained without any gait choreography — the quietness
comes from priced physics, not a clock.
Headline numbers (vs the sag_v3 keeper it descends from)
| metric | sag_v3_s1b | v10 |
|---|---|---|
| touchdown speed p90, walk 0.5 (m/s) | 0.89 | 0.23 |
| free-fall ratio, slow/walk/fast | 0.88 / 0.90 / 1.14 | 0.09 / 0.24 / 0.29 |
| spin gait | jump-turn, 17.7 taps/s, 14% airborne | step-turn, 6.5 taps/s, 0% airborne |
| spin touchdown p90 (m/s) | 1.13 / 0.94 | 0.28 / 0.34 |
| achieved wz (spin L/R) | 0.96 / −0.98 | 0.90 / −0.88 |
| courses falls | 1–2 / 160 | 0 / 160 (slippery circle 8/8 — first in lineage) |
| actuator saturation (battery) | — | 0 everywhere |
Recipe (all committed on michal/flat-tff-rnd, presets
flat_quiet_v1..v6 + CLI overrides recorded in the report):
keeper-curriculum restore + feet_landing=-15 with
feet_landing_wz_fade=0.1 / feet_landing_wz_floor=0.6 (spins pay 60%)
energy_cmd=1.0(arXiv 2403.20001 command-normalized energy reward, tracking-gated) +tracking_ang_vel=2.4(defends spin rate). Seed-1 replication lands within noise. Full experiment log:QUIET-REPORT-2026-08-12.md.
Contents
policy.npz+policy_meta.json— the schema-2 deployment pair (24-wide action: position targets + tau_ff head). Deploy by reference:policy:=hvsr-robotics/wojtek-quiet-locomotionon the launch files.checkpoint/— the final orbax checkpoint (001002700800), restorable withrestore=for further fine-tuning.battery.json/eval_report.md— the full battery report.courses.json+courses/*.png— 20-scenario path-following benchmark (8 seeds) and overhead trajectory plots.variants/v9— floor 0.475 arm (spin td 0.28/0.31 at wz 0.84/−0.87).variants/v2b— the quietest linear gait of the family (ffr 0.15–0.32 everywhere including gentle arcs) but pivoting eroded to 0.05 rad/s; only for use-cases that never turn in place.
Provenance
Lineage: flat_tff_rnd_v1 (tau_ff head + RND, kp20/kd0.5) → flat_tff_sag_v2b (gravity-compensation sag reward) → flat_tff_sag_v3 (real foot-friction DR) → quiet family (this repo). Trained with MuJoCo MJX/MJWarp + brax PPO, 2×RTX 5090, ~580k SPS; base run 2B steps, quiet fine-tunes 1B.
- Created
- Aug 12, 2026
- Updated
- Aug 25, 2026