{
  "scope": "Custom trained walking policy with the pinned deployment adapter and BAM M6 on X dynamics. Compared separately from official unchanged weights.",
  "interface_passed": true,
  "observation_size": 61,
  "action_size": 14,
  "control_hz": 50,
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    "LICENSE": {
      "url": "https://raw.githubusercontent.com/pollen-robotics/microduck_rl/2b25a48b08f1f17bc38c90bb03144c81fbd9ed07/LICENSE",
      "sha256": "2d3fd9ffffa70a4307498ec630b14a6b4731e010f8ddda92686eaf65733c2dfe"
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    "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": {
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      "sha256": "1569268713e40deea795dd2922dba50d3621e15a872855408b6b1b125b1c094b"
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  "results": [
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      "policy": "custom_walking",
      "command": [
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      "seed": 10,
      "duration_s": 30.0,
      "first_fall_s": null,
      "max_tilt_degrees": 2.38,
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      ],
      "tracking_mae": [
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    {
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      "command": [
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      "seed": 11,
      "duration_s": 30.0,
      "first_fall_s": null,
      "max_tilt_degrees": 2.37,
      "final_xy_m": [
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      "finite": true,
      "mean_body_velocity": [
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      "tracking_mae": [
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        0.00025
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    {
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      "command": [
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      "seed": 12,
      "duration_s": 30.0,
      "first_fall_s": null,
      "max_tilt_degrees": 2.33,
      "final_xy_m": [
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      "finite": true,
      "mean_body_velocity": [
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        0.0,
        0.00029
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      "tracking_mae": [
        3e-05,
        1e-05,
        0.00029
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      "tracking_gate_passed": true
    },
    {
      "policy": "custom_walking",
      "command": [
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        0
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      "seed": 10,
      "duration_s": 30.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.91,
      "final_xy_m": [
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      "finite": true,
      "mean_body_velocity": [
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        0.00029
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      "tracking_mae": [
        0.09997,
        1e-05,
        0.00029
      ],
      "tracking_gate_passed": false
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    {
      "policy": "custom_walking",
      "command": [
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      "seed": 11,
      "duration_s": 30.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.9,
      "final_xy_m": [
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      "finite": true,
      "mean_body_velocity": [
        3e-05,
        0.0,
        0.00028
      ],
      "tracking_mae": [
        0.09997,
        1e-05,
        0.00028
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "custom_walking",
      "command": [
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        0
      ],
      "seed": 12,
      "duration_s": 30.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.87,
      "final_xy_m": [
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      "finite": true,
      "mean_body_velocity": [
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        0.0,
        0.00031
      ],
      "tracking_mae": [
        0.09997,
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        0.00031
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      "tracking_gate_passed": false
    },
    {
      "policy": "custom_walking",
      "command": [
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        0
      ],
      "seed": 10,
      "duration_s": 30.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.18,
      "final_xy_m": [
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      "finite": true,
      "mean_body_velocity": [
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        -0.00017
      ],
      "tracking_mae": [
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        0.00017
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      "tracking_gate_passed": false
    },
    {
      "policy": "custom_walking",
      "command": [
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      "seed": 11,
      "duration_s": 30.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.18,
      "final_xy_m": [
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      "finite": true,
      "mean_body_velocity": [
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      "tracking_mae": [
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        0.00015
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    {
      "policy": "custom_walking",
      "command": [
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      "seed": 12,
      "duration_s": 30.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.15,
      "final_xy_m": [
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        0.0018
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      "finite": true,
      "mean_body_velocity": [
        5e-05,
        -0.0,
        -0.00012
      ],
      "tracking_mae": [
        0.29995,
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        0.00013
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      "tracking_gate_passed": false
    },
    {
      "policy": "custom_walking",
      "command": [
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        0,
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      "seed": 10,
      "duration_s": 30.0,
      "first_fall_s": null,
      "max_tilt_degrees": 2.93,
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        -0.0013
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      "finite": true,
      "mean_body_velocity": [
        3e-05,
        -1e-05,
        0.00022
      ],
      "tracking_mae": [
        3e-05,
        1e-05,
        0.29978
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "custom_walking",
      "command": [
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      "first_fall_s": null,
      "max_tilt_degrees": 2.91,
      "final_xy_m": [
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      "finite": true,
      "mean_body_velocity": [
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        -1e-05,
        0.00021
      ],
      "tracking_mae": [
        3e-05,
        1e-05,
        0.29979
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      "tracking_gate_passed": false
    },
    {
      "policy": "custom_walking",
      "command": [
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      "seed": 12,
      "duration_s": 30.0,
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      "max_tilt_degrees": 2.9,
      "final_xy_m": [
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      "finite": true,
      "mean_body_velocity": [
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        -1e-05,
        0.00023
      ],
      "tracking_mae": [
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        1e-05,
        0.29977
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      "tracking_gate_passed": false
    }
  ],
  "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.",
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  "seed_start": 10,
  "custom_walking_sha256": "dc8f449efa3c2111ee562c6b4c313eac5eeba22a804d2066bd1ecb086aa9e592"
}