{
  "scope": "Unchanged official ONNX + published observation/action adapter + BAM M6, on an independent primitive X dynamics study. Not the P0 printable model, not a validated commercial robot.",
  "interface_passed": true,
  "observation_size": 61,
  "action_size": 14,
  "control_hz": 50,
  "model_sha256": "e68b7735f9ede610309209ac71d81a16f58724300d28687b65b7670ba060021a",
  "weights": {
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      "sha256": "bfeb91fb477490c932754eb7726207697628629229b9495fde1f56232acb1b45"
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    "LICENSE": {
      "url": "https://raw.githubusercontent.com/pollen-robotics/microduck_rl/2b25a48b08f1f17bc38c90bb03144c81fbd9ed07/LICENSE",
      "sha256": "2d3fd9ffffa70a4307498ec630b14a6b4731e010f8ddda92686eaf65733c2dfe"
    },
    "README.md": {
      "url": "https://huggingface.co/pollen-robotics/microduck-policies/resolve/088524a64e2557dc453256b6071dbb9d23888802/README.md",
      "sha256": "98b45ea81164d1e1a1dd82255207053b15cd6c69d922a1c5cf3387ce604d4b74"
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    "alpha_walking.onnx": {
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    "alpha_stand.onnx": {
      "url": "https://huggingface.co/pollen-robotics/microduck-policies/resolve/088524a64e2557dc453256b6071dbb9d23888802/alpha_stand.onnx",
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      "command": [
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      ],
      "seed": 0,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 0.68,
      "final_xy_m": [
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      ],
      "finite": true,
      "mean_body_velocity": [
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        1e-05,
        -0.00014
      ],
      "tracking_mae": [
        4e-05,
        1e-05,
        0.00014
      ],
      "tracking_gate_passed": true
    },
    {
      "policy": "alpha_walking",
      "command": [
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        0,
        0
      ],
      "seed": 1,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 0.65,
      "final_xy_m": [
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        0.0006
      ],
      "finite": true,
      "mean_body_velocity": [
        5e-05,
        1e-05,
        -0.0001
      ],
      "tracking_mae": [
        5e-05,
        1e-05,
        0.0001
      ],
      "tracking_gate_passed": true
    },
    {
      "policy": "alpha_walking",
      "command": [
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        0
      ],
      "seed": 2,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 0.62,
      "final_xy_m": [
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        0.0005
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      "finite": true,
      "mean_body_velocity": [
        5e-05,
        1e-05,
        -0.00012
      ],
      "tracking_mae": [
        5e-05,
        1e-05,
        0.00012
      ],
      "tracking_gate_passed": true
    },
    {
      "policy": "alpha_walking",
      "command": [
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        0,
        0
      ],
      "seed": 0,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 0.79,
      "final_xy_m": [
        0.0059,
        0.0006
      ],
      "finite": true,
      "mean_body_velocity": [
        8e-05,
        -1e-05,
        -4e-05
      ],
      "tracking_mae": [
        0.09992,
        1e-05,
        6e-05
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_walking",
      "command": [
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        0,
        0
      ],
      "seed": 1,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 0.75,
      "final_xy_m": [
        0.0057,
        0.0009
      ],
      "finite": true,
      "mean_body_velocity": [
        8e-05,
        -1e-05,
        -2e-05
      ],
      "tracking_mae": [
        0.09992,
        1e-05,
        6e-05
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_walking",
      "command": [
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        0,
        0
      ],
      "seed": 2,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 0.7,
      "final_xy_m": [
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        0.0008
      ],
      "finite": true,
      "mean_body_velocity": [
        8e-05,
        -1e-05,
        -3e-05
      ],
      "tracking_mae": [
        0.09992,
        1e-05,
        6e-05
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_walking",
      "command": [
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        0,
        0
      ],
      "seed": 0,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 2.3,
      "final_xy_m": [
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      ],
      "finite": true,
      "mean_body_velocity": [
        0.11341,
        0.00079,
        0.11458
      ],
      "tracking_mae": [
        0.18659,
        0.12007,
        0.57972
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_walking",
      "command": [
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        0
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      "seed": 1,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 2.32,
      "final_xy_m": [
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      "finite": true,
      "mean_body_velocity": [
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        0.00023,
        0.09969
      ],
      "tracking_mae": [
        0.18698,
        0.11937,
        0.57779
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_walking",
      "command": [
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        0,
        0
      ],
      "seed": 2,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 2.21,
      "final_xy_m": [
        0.8718,
        0.4542
      ],
      "finite": true,
      "mean_body_velocity": [
        0.11378,
        -0.00067,
        0.09742
      ],
      "tracking_mae": [
        0.18622,
        0.11937,
        0.57958
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_walking",
      "command": [
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        0,
        0.3
      ],
      "seed": 0,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 0.86,
      "final_xy_m": [
        0.0041,
        0.0008
      ],
      "finite": true,
      "mean_body_velocity": [
        6e-05,
        -0.0,
        0.00012
      ],
      "tracking_mae": [
        6e-05,
        0.0,
        0.29988
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_walking",
      "command": [
        0,
        0,
        0.3
      ],
      "seed": 1,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 0.94,
      "final_xy_m": [
        0.0039,
        0.0011
      ],
      "finite": true,
      "mean_body_velocity": [
        6e-05,
        -1e-05,
        0.00012
      ],
      "tracking_mae": [
        6e-05,
        1e-05,
        0.29988
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_walking",
      "command": [
        0,
        0,
        0.3
      ],
      "seed": 2,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 0.92,
      "final_xy_m": [
        0.0038,
        0.0011
      ],
      "finite": true,
      "mean_body_velocity": [
        6e-05,
        -1e-05,
        0.00011
      ],
      "tracking_mae": [
        6e-05,
        1e-05,
        0.29989
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_stand",
      "command": [
        0,
        0,
        0
      ],
      "seed": 0,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.09,
      "final_xy_m": [
        0.0023,
        -0.0003
      ],
      "finite": true,
      "mean_body_velocity": [
        2e-05,
        -0.0,
        0.00019
      ],
      "tracking_mae": [
        2e-05,
        0.0,
        0.00019
      ],
      "tracking_gate_passed": true
    },
    {
      "policy": "alpha_stand",
      "command": [
        0,
        0,
        0
      ],
      "seed": 1,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.13,
      "final_xy_m": [
        0.002,
        -0.0
      ],
      "finite": true,
      "mean_body_velocity": [
        2e-05,
        -0.0,
        0.00017
      ],
      "tracking_mae": [
        2e-05,
        0.0,
        0.00017
      ],
      "tracking_gate_passed": true
    },
    {
      "policy": "alpha_stand",
      "command": [
        0,
        0,
        0
      ],
      "seed": 2,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.21,
      "final_xy_m": [
        0.0019,
        -0.0001
      ],
      "finite": true,
      "mean_body_velocity": [
        3e-05,
        -0.0,
        0.00018
      ],
      "tracking_mae": [
        3e-05,
        0.0,
        0.00018
      ],
      "tracking_gate_passed": true
    }
  ],
  "all_trials_upright": true,
  "physical_verified": false,
  "complete_compatibility_verified": false,
  "tracking_protocol": "Exclude first 1 s. Body forward/lateral m/s and body yaw rad/s. Provisional engineering gate: forward MAE <= max(0.03, 25% of command), lateral <=0.03, yaw <=0.10, no fall. These thresholds are targets, not an industry standard.",
  "tracking_gate_passed": false,
  "seed_start": 0
}