{
  "source_revision": "088524a64e2557dc453256b6071dbb9d23888802",
  "weight_sha256": "e36332d383997d51401897734cd3e79cf5038406feddb18b4d57ecfb141daa6c",
  "inference_source_sha256": "bfeb91fb477490c932754eb7726207697628629229b9495fde1f56232acb1b45",
  "actuator_model": "upstream BAM M6 XL330, kp_fw=200, vin=7.4, sag_gain=0.1, no firmware current limiter",
  "observation": "61D; upstream projected gravity, joint-relative HOME and command layout",
  "control_hz": 50,
  "physics_hz": 200,
  "protocol": "Same seeds; zero, 0.1 and 0.3 m/s forward, 0.3 rad/s turn commands. Fall = tilt >45 degrees or height <65 mm; fixed flat floor, no hardware. Command tracking reported separately from upright status.",
  "results": {
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        "final_yaw_deg": -0.29,
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        "upright_entire_trial": true,
        "finite": true,
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      {
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        "final_yaw_deg": -0.22,
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        "upright_entire_trial": true,
        "finite": true,
        "policy": "alpha_walking",
        "head_pitch_command_rad": 0
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      {
        "seed": 2,
        "velocity_command": [
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        "min_trunk_height_m": 0.1149,
        "final_xy_m": [
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          0.0002
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        "mean_world_vx_m_s": 0.0002,
        "final_yaw_deg": -0.26,
        "first_fall_s": null,
        "upright_entire_trial": true,
        "finite": true,
        "policy": "alpha_walking",
        "head_pitch_command_rad": 0
      },
      {
        "seed": 0,
        "velocity_command": [
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          0.0,
          0.0
        ],
        "duration_s": 10,
        "mass_kg": 0.7372431799999999,
        "max_tilt_deg": 0.88,
        "min_trunk_height_m": 0.1145,
        "final_xy_m": [
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        "mean_world_vx_m_s": 0.0006,
        "final_yaw_deg": -0.24,
        "first_fall_s": null,
        "upright_entire_trial": true,
        "finite": true,
        "policy": "alpha_walking",
        "head_pitch_command_rad": 0
      },
      {
        "seed": 1,
        "velocity_command": [
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          0.0,
          0.0
        ],
        "duration_s": 10,
        "mass_kg": 0.7372431799999999,
        "max_tilt_deg": 0.91,
        "min_trunk_height_m": 0.1145,
        "final_xy_m": [
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          0.0015
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        "mean_world_vx_m_s": 0.0006,
        "final_yaw_deg": -0.33,
        "first_fall_s": null,
        "upright_entire_trial": true,
        "finite": true,
        "policy": "alpha_walking",
        "head_pitch_command_rad": 0
      },
      {
        "seed": 2,
        "velocity_command": [
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          0.0,
          0.0
        ],
        "duration_s": 10,
        "mass_kg": 0.7372431799999999,
        "max_tilt_deg": 0.92,
        "min_trunk_height_m": 0.1146,
        "final_xy_m": [
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          0.0017
        ],
        "mean_world_vx_m_s": 0.0006,
        "final_yaw_deg": -0.32,
        "first_fall_s": null,
        "upright_entire_trial": true,
        "finite": true,
        "policy": "alpha_walking",
        "head_pitch_command_rad": 0
      },
      {
        "seed": 0,
        "velocity_command": [
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          0.0,
          0.0
        ],
        "duration_s": 10,
        "mass_kg": 0.7372431799999999,
        "max_tilt_deg": 3.8,
        "min_trunk_height_m": 0.1128,
        "final_xy_m": [
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          -0.2809
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        "mean_world_vx_m_s": 0.0966,
        "final_yaw_deg": -31.47,
        "first_fall_s": null,
        "upright_entire_trial": true,
        "finite": true,
        "policy": "alpha_walking",
        "head_pitch_command_rad": 0
      },
      {
        "seed": 1,
        "velocity_command": [
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          0.0,
          0.0
        ],
        "duration_s": 10,
        "mass_kg": 0.7372431799999999,
        "max_tilt_deg": 3.68,
        "min_trunk_height_m": 0.1128,
        "final_xy_m": [
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          -0.2439
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        "mean_world_vx_m_s": 0.0973,
        "final_yaw_deg": -22.18,
        "first_fall_s": null,
        "upright_entire_trial": true,
        "finite": true,
        "policy": "alpha_walking",
        "head_pitch_command_rad": 0
      },
      {
        "seed": 2,
        "velocity_command": [
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          0.0,
          0.0
        ],
        "duration_s": 10,
        "mass_kg": 0.7372431799999999,
        "max_tilt_deg": 3.93,
        "min_trunk_height_m": 0.1129,
        "final_xy_m": [
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          -0.1525
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        "mean_world_vx_m_s": 0.0985,
        "final_yaw_deg": -21.42,
        "first_fall_s": null,
        "upright_entire_trial": true,
        "finite": true,
        "policy": "alpha_walking",
        "head_pitch_command_rad": 0
      },
      {
        "seed": 0,
        "velocity_command": [
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          0.0,
          0.3
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        "duration_s": 10,
        "mass_kg": 0.7372431799999999,
        "max_tilt_deg": 0.74,
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        "final_xy_m": [
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        "mean_world_vx_m_s": 0.0005,
        "final_yaw_deg": 3.24,
        "first_fall_s": null,
        "upright_entire_trial": true,
        "finite": true,
        "policy": "alpha_walking",
        "head_pitch_command_rad": 0
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      {
        "seed": 1,
        "velocity_command": [
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          0.3
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        "duration_s": 10,
        "mass_kg": 0.7372431799999999,
        "max_tilt_deg": 0.83,
        "min_trunk_height_m": 0.1147,
        "final_xy_m": [
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          0.003
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        "mean_world_vx_m_s": 0.0004,
        "final_yaw_deg": 3.21,
        "first_fall_s": null,
        "upright_entire_trial": true,
        "finite": true,
        "policy": "alpha_walking",
        "head_pitch_command_rad": 0
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      {
        "seed": 2,
        "velocity_command": [
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          0.3
        ],
        "duration_s": 10,
        "mass_kg": 0.7372431799999999,
        "max_tilt_deg": 0.86,
        "min_trunk_height_m": 0.1148,
        "final_xy_m": [
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        "mean_world_vx_m_s": 0.0004,
        "final_yaw_deg": 3.06,
        "first_fall_s": null,
        "upright_entire_trial": true,
        "finite": true,
        "policy": "alpha_walking",
        "head_pitch_command_rad": 0
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    ],
    "micro_rex": [
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        "seed": 0,
        "velocity_command": [
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          0.0,
          0.0
        ],
        "duration_s": 10,
        "mass_kg": 0.7837700178987861,
        "max_tilt_deg": 0.85,
        "min_trunk_height_m": 0.1147,
        "final_xy_m": [
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          0.0001
        ],
        "mean_world_vx_m_s": 0.0002,
        "final_yaw_deg": -0.31,
        "first_fall_s": null,
        "upright_entire_trial": true,
        "finite": true,
        "policy": "alpha_walking",
        "head_pitch_command_rad": 0
      },
      {
        "seed": 1,
        "velocity_command": [
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          0.0,
          0.0
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        "duration_s": 10,
        "mass_kg": 0.7837700178987861,
        "max_tilt_deg": 0.83,
        "min_trunk_height_m": 0.1147,
        "final_xy_m": [
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        "mean_world_vx_m_s": 0.0002,
        "final_yaw_deg": -0.23,
        "first_fall_s": null,
        "upright_entire_trial": true,
        "finite": true,
        "policy": "alpha_walking",
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      {
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        "mean_world_vx_m_s": 0.0002,
        "final_yaw_deg": -0.27,
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        "upright_entire_trial": true,
        "finite": true,
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      {
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        "velocity_command": [
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        "duration_s": 10,
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      {
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      {
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        "mean_world_vx_m_s": 0.0006,
        "final_yaw_deg": -0.35,
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        "upright_entire_trial": true,
        "finite": true,
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      {
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        "velocity_command": [
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        "duration_s": 10,
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      {
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      {
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        "final_yaw_deg": 3.38,
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        "finite": true,
        "policy": "alpha_walking",
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    ]
  },
  "hardware_compatibility_verified": false,
  "limitations": [
    "No sim-to-real validation",
    "No varied terrain or sensor noise",
    "Approximate retrofit collision envelopes",
    "Finite trial duration does not establish reliable walking"
  ],
  "model_sha256": {
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    "models/micro_rex.xml": "c120445bf2fc2899eeb3bab8ad095b0a8b117154e7941b591cc2be78ec90cfcc"
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  "standing_weight_sha256": "1569268713e40deea795dd2922dba50d3621e15a872855408b6b1b125b1c094b",
  "standing_head_command_trials": {
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        "final_yaw_deg": 1.82,
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        "upright_entire_trial": true,
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      {
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        "mean_world_vx_m_s": 0.0003,
        "final_yaw_deg": 1.7,
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        "upright_entire_trial": true,
        "finite": true,
        "policy": "alpha_stand",
        "head_pitch_command_rad": 0.25
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    ],
    "micro_rex": [
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        "duration_s": 10,
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    ]
  }
}