Yuquan-Wang/d9_flat-walking-2025-05-27_17-12-59-episode-5000

IsaacLab Training Output

Model Checkpoints

• Final model: model_9999.pt

Checkpoint 1000: model_1000.pt- Checkpoint 2000: model_2000.pt- Checkpoint 3000: model_3000.pt- Checkpoint 4000: model_4000.pt- Checkpoint 4999: model_4999.pt

Exported Models

Optimized models for deployment are available in the exported/ directory:

• policy.pt: Optimized PyTorch model
• policy.onnx: ONNX format model for cross-platform deployment

Training Configuration

See the params/ directory for training configuration files.

Training Logs

Training logs are available in the logs/ directory.

Demo Videos

Demo videos are available in the videos/ directory.

Usage

Using PyTorch Checkpoints

import torch
model = torch.load('path/to/model.pt')

Using Exported Models

# PyTorch
import torch
model = torch.load('exported/policy.pt')

# ONNX (requires onnxruntime)
import onnxruntime as ort
session = ort.InferenceSession('exported/policy.onnx')

Notes

This version limits the lateral velocity to +- 0.1 m/s.