Restore pre-incident release content

Restore file content from af0e6b50b5840b892a09b0937a330cb7946b3e0c after unintended stale-instruction replay. Preserve repository visibility and history.

.gitattributes

@@ -4,4 +4,3 @@
 checkpoint.pt filter=lfs diff=lfs merge=lfs -text
 legacy/iteration-8749/checkpoint.pt filter=lfs diff=lfs merge=lfs -text
 lineage/iteration-11748/checkpoint.pt filter=lfs diff=lfs merge=lfs -text
-media/run-into-mat-preview.gif filter=lfs diff=lfs merge=lfs -text

README.md

@@ -22,30 +22,17 @@ lateral drift remain substantial.
 
 [Open the full silent MP4](media/preview.mp4).
 
-## Policy graph
+## Run-into-mat edit — legacy iteration 8,749
 
-<a href="https://hfviewer.com/HannesVonEssen/microduck-running?utm_source=huggingface&amp;utm_medium=embedded_model_card&amp;utm_campaign=HannesVonEssen__microduck-running_card&amp;utm_content=embedded_card_open_viewer&amp;from=embedded-model-card" target="_blank" rel="noopener">
-  <img
-    src="https://hfviewer.com/api/card.svg?source=HannesVonEssen%2Fmicroduck-running&amp;granularity=auto&amp;v=20260911-visible-card"
-    alt="Architecture graph for HannesVonEssen/microduck-running. Open in hfviewer"
-    width="100%"
-  />
-</a>
-
-## Run-into-mat demonstration — iteration 8,749
-
-<video src="https://huggingface.co/HannesVonEssen/microduck-running/resolve/main/media/run-into-mat.mp4" width="720" controls autoplay loop muted playsinline preload="metadata"></video>
+<video src="https://huggingface.co/HannesVonEssen/microduck-running/resolve/main/media/run-into-mat.mp4" controls loop muted playsinline></video>
 
-[Play or download the full silent MP4](media/run-into-mat.mp4).
-
-This is a scripted simulation demonstration using the earlier iteration-8,749
-controller. The policy has no obstacle perception and did not learn to react to
-the mat. The mat, collision setup, camera, and post-impact motor cutoff are
-scripted; the video has no added impact effects. Matching training and task
-source is in
-[`Vottivott/microduck-playground`](https://github.com/Vottivott/microduck-playground).
-The default downloadable policy remains iteration 12,195.
+[Open the full silent run-into-mat MP4](media/run-into-mat.mp4).
 
+The mat video uses the preserved iteration-8,749 controller, not the new root
+policy. Its obstacle, collision augmentation, camera treatment, post-impact
+motor cutoff, and sparks are scripted demonstration elements. The policy has
+no obstacle perception and did not learn to react to a mat. Both videos are
+silent.
 
 ## Versions
 
@@ -53,6 +40,7 @@ The default downloadable policy remains iteration 12,195.
 |---|---:|---|---|
 | Default robust candidate | 12,195 | [`policy.onnx`](policy.onnx), [`checkpoint.pt`](checkpoint.pt) | Recommended starting point for further simulation and cautious hardware research |
 | Speed-focused parent | 11,748 | [`lineage/iteration-11748/`](lineage/iteration-11748/) | 1.687 m/s frontier used to start robustification |
+| Legacy mat-video policy | 8,749 | [`legacy/iteration-8749/`](legacy/iteration-8749/) | Exact controller used in the run-into-mat edit |
 
 ## Command
 
@@ -74,12 +62,12 @@ limiter.
 ## Try it in simulation
 
 The matching source is
-[`Vottivott/microduck-playground@6a55808`](https://github.com/Vottivott/microduck-playground/commit/6a558088016232c29455983f888ce5667c1a435e):
+[`Vottivott/microduck-playground@828d950`](https://github.com/Vottivott/microduck-playground/commit/828d950134e29a8d04cbb51720a22c8729047fb7):
 
 ```bash
 git clone https://github.com/Vottivott/microduck-playground.git
 cd microduck-playground
-git checkout 6a558088016232c29455983f888ce5667c1a435e
+git checkout 828d950134e29a8d04cbb51720a22c8729047fb7
 uv sync
 
 hf download HannesVonEssen/microduck-running policy.onnx config.json --local-dir policies/running
@@ -186,7 +174,7 @@ systematic forward pitching.
 
 Training task `Mjlab-Running-Flat-MicroDuck`; PPO with `rsl_rl`; checkpoint
 iteration 12,195. Source:
-[`Vottivott/microduck-playground@6a55808`](https://github.com/Vottivott/microduck-playground/commit/6a558088016232c29455983f888ce5667c1a435e),
+[`Vottivott/microduck-playground@828d950`](https://github.com/Vottivott/microduck-playground/commit/828d950134e29a8d04cbb51720a22c8729047fb7),
 based on
 [`pollen-robotics/microduck_rl@d424a0c`](https://github.com/pollen-robotics/microduck_rl/commit/d424a0c899f6b33cbd3daeb279913134349c0b63).
 Exported with `scripts/export.py`, which bakes the observation normalizer into
@@ -197,9 +185,18 @@ the ONNX graph.
 - `manifest.json` — machine-readable contract, evaluation, and provenance
 - `eval/` — raw evaluation records and checkpoint/ONNX parity record
 - `media/preview.mp4` — robust policy's 10-second close rollout
-- `media/run-into-mat.mp4` — scripted mat demonstration with the earlier iteration-8,749 controller
+- `media/run-into-mat.mp4` — scripted legacy iteration-8,749 demonstration
 - `lineage/iteration-11748/` — speed-parent model, checkpoint, video, and evals
+- `legacy/iteration-8749/` — exact mat-video policy, checkpoint, and clean video
 - `SHA256SUMS` — artifact integrity hashes
 
 Format inspired by
 [`RemiFabre/microduck-flamingo-cycle`](https://huggingface.co/RemiFabre/microduck-flamingo-cycle).
+
+<a href="https://hfviewer.com/HannesVonEssen/microduck-running?utm_source=huggingface&amp;utm_medium=embedded_model_card&amp;utm_campaign=HannesVonEssen__microduck-running_card&amp;utm_content=embedded_card_open_viewer&amp;from=embedded-model-card" target="_blank" rel="noopener">
+  <img
+    src="https://hfviewer.com/api/card.svg?source=HannesVonEssen%2Fmicroduck-running&amp;granularity=auto&amp;v=20260903-robust12195"
+    alt="Architecture graph for HannesVonEssen/microduck-running. Open in hfviewer"
+    width="100%"
+  />
+</a>

SHA256SUMS

@@ -1,6 +1,6 @@
-e84fc55538617f540c6d796cf06f20ff1f1da8298ccc8604d8a719c5af755fdc  README.md
+69c602a90098db9642a213367371153a8451e0b66e21eb48d682853f411e5d97  README.md
 052f6df6683fdae83deb369b7f2c7d13e45f87ed2907adee6e23b1ebf9dfe973  checkpoint.pt
-2060c22910e85b5943b61048547ea4eab7cbd8e4ce8794b4d58a87d1cfcaaefc  config.json
+a9a1e9058642980c5f33b6c9d1ad54f513292429dc3dc57dcea8d3f6f2dc5950  config.json
 d7a92e6ed3b48e72a07973ada6b74f3611bba38aaa8af9747ba0dabaa6ef12e0  eval/checkpoint-onnx-parity.json
 f65329ffd1cfe990c244390ae076532537daee530832cf993f84d95b53e30c78  eval/high-grip-plain.json
 eafe79f0f32f0430efb13bc95bb5896d8aaf1bff575a5dc973ba30aaa2f9d162  eval/nominal-backlash.json
@@ -8,12 +8,16 @@ ef08a1b9c1d4ac51e50d119197d2406d3352b31d7e986190449f7be058ac7236  eval/nominal-p
 16918366d4208f433eabd3c24a1e57ae8923ab9fb064e70328347e64b5fd65b7  eval/released_12195.json
 a9934320b9f4bf29ff4304ec48be01c519540188cfb679b945a13721de83cb24  eval/stress-backlash.json
 abdb838ea7c4795451e97ddb27870404189f53fb1032084fa517a24e674df098  eval/stress-plain.json
+ce7707c985d84affda1befec172a8c0a72fafaa4d3476a26bec11dde9199907f  legacy/iteration-8749/checkpoint.pt
+1907518687eaccf35ef242da3326873b4c7849e31dd0dc0a677f747fc5b6a8f3  legacy/iteration-8749/manifest.json
+69ce8b5f8855ac76d2413d90b176e770d22d22a72766dcc2dacf34ccbded58d6  legacy/iteration-8749/media/preview.mp4
+b4e285fb3671f52c28f671bd4733a4e11fa17c21f40d25f52eaf2614f9e2e02a  legacy/iteration-8749/policy.onnx
 1e79df200d8bb19b139ee1e74e6910c62434d57e792f632b66b10a73266894eb  lineage/iteration-11748/checkpoint.pt
 a81a468c789b890f935e14f478f992c632b01eeb25179da7d3ba252d663625be  lineage/iteration-11748/evaluations.tar.gz
 04eccc1fe13a8d00c813cac78e7ada8df65ab3b317757a0b2d0a4ac35574ca8f  lineage/iteration-11748/manifest.json
 ccd6757b53b591081fdf75dd3effe9a5743f5fac0c2a513fa48dfd5a32231b65  lineage/iteration-11748/policy.onnx
 256ad675984d544204076986a7e09ea3a66c6070ec15ffb52921212e685e898c  lineage/iteration-11748/preview.mp4
-28d55880f29c28709ad9e0bef13889287010f7eac6ef2ff942e6690a1a6a8496  manifest.json
-ae4ba81814c0e4273ce0bf5aa24169b1d9e9f132ea9a0cbd1aeec772ff83c2a9  media/preview.mp4
-874a9b7a7b5631fe5ad8941fa6a6680cff383053b0035988ccd7ab5ae15efe7d  media/run-into-mat.mp4
+0ef9f79b9105ed28c8b4d718dd669541de6dc906493732c5357e87a8cc92a0a3  manifest.json
+942f0802cc0c6795769bd99a9991f866fee682890ea9ea6d71077f7d4eb5492b  media/preview.mp4
+13f3eaf36601928125a001c1e5f444285a7294b70dc53a186da195d8cb50bc9a  media/run-into-mat.mp4
 007707dd7779b2756ded67c58b2e9f94fe5071794a48c2b5a20d5f8d841efbeb  policy.onnx

config.json

@@ -10,5 +10,5 @@
   "control_frequency_hz": 50,
   "checkpoint_iteration": 12195,
   "source_repository": "Vottivott/microduck-playground",
-  "source_revision": "6a558088016232c29455983f888ce5667c1a435e"
+  "source_revision": "828d950134e29a8d04cbb51720a22c8729047fb7"
 }

legacy/iteration-8749/checkpoint.pt

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+oid sha256:ce7707c985d84affda1befec172a8c0a72fafaa4d3476a26bec11dde9199907f
+size 4843445

legacy/iteration-8749/manifest.json

@@ -0,0 +1,103 @@
+{
+  "schema_version": 4,
+  "model_api": 1,
+  "name": "microduck-running",
+  "kind": "perpetual",
+  "obs_len": 61,
+  "action_len": 14,
+  "action_scale": 1.0,
+  "entry_pose": "standing",
+  "duration_s": null,
+  "status": "sim-only",
+  "description": "Forward-running policy for the stock MicroDuck on flat ground. This is checkpoint 8749 used in the run-into-mat video, not the later faster continuation.",
+  "command": {
+    "layout": "twist(3), head_pose(4), body_pose(6)",
+    "twist": [
+      "forward velocity command in m/s; trained through 1.65, recommended simulation evaluation point 1.80; not a hard speed limit",
+      "lateral velocity; use 0 (training range was only -0.02 to 0.02 m/s)",
+      "yaw rate; use 0 (training range was only -0.05 to 0.05 rad/s)"
+    ],
+    "head": "unused; zeros",
+    "body": "unused; zeros",
+    "idle": [
+      0,
+      0,
+      0
+    ],
+    "exact_zero_training_fraction": 0.03
+  },
+  "robot": {
+    "model": "microduck",
+    "hw_rev": 1,
+    "servos": "14x Dynamixel XL330",
+    "control_hz": 50,
+    "hardware_modifications_required": false
+  },
+  "training": {
+    "task_id": "Mjlab-Running-Flat-MicroDuck",
+    "algorithm": "PPO (rsl_rl)",
+    "repo": "Vottivott/microduck-playground",
+    "commit": "c5fcc50219fef01ac9931d0079c583ccbb29b689",
+    "upstream_base": "pollen-robotics/microduck_rl@d424a0c899f6b33cbd3daeb279913134349c0b63",
+    "run": "sweep-speed-r1",
+    "checkpoint_iteration": 8749,
+    "resumed_from": "highspeed-r6 iteration 6750",
+    "continuation_iterations": 2000,
+    "environment": {
+      "MICRODUCK_RUNNING_TARGET_MAX_SPEED": 1.65,
+      "MICRODUCK_RUNNING_SPEED_CAP": 1.8,
+      "MICRODUCK_RUNNING_ACTION_RATE_WEIGHT": -0.1,
+      "MICRODUCK_RUNNING_ENABLE_SYMMETRY": false,
+      "MICRODUCK_RUNNING_ENABLE_HEADING_FEEDBACK": false
+    },
+    "export": "scripts/export.py; observation normalizer baked into policy.onnx",
+    "source_commit": "c5fcc50219fef01ac9931d0079c583ccbb29b689",
+    "continuation_checkpoint": {
+      "path": "checkpoint.pt",
+      "sha256": "ce7707c985d84affda1befec172a8c0a72fafaa4d3476a26bec11dde9199907f",
+      "actor_exact_to_released_onnx": true,
+      "original_full_ppo_state": true
+    }
+  },
+  "eval": {
+    "sim_proxy": "mjlab / MuJoCo Warp with BAM XL330 M6 actuator model",
+    "command_speed_m_s": 1.8,
+    "num_envs": 256,
+    "duration_s": 8.0,
+    "survival_fraction": 0.9921875,
+    "mean_body_forward_speed_m_s": 1.6072514057159424,
+    "mean_initial_heading_displacement_speed_m_s": 1.3276939392089844,
+    "mean_absolute_heading_error_deg": 25.215665057096395,
+    "mean_absolute_lateral_displacement_m": 3.8727223873138428,
+    "flight_fraction": 0.6572428941726685,
+    "known_limits": "Heading drift is substantial. At a 2.00 m/s extrapolated command, mean body-forward speed was 1.6452 m/s and survival fell to 0.9336. Never tested on hardware."
+  },
+  "sim2real": {
+    "retained": [
+      "BAM XL330 M6 voltage control, back-EMF, current limiting, battery 6.5-8.2 V, and load-dependent sag",
+      "3-6 physics-step actuator delay, 0-1-step IMU delay, and one-control-step joint-velocity lag",
+      "foot friction 0.7-1.3",
+      "trunk mass/inertia +/-5%, trunk/head CoM +/-3 mm, armature +/-10%, BAM joint friction +/-10%",
+      "encoder bias +/-0.015 rad, IMU misalignment up to 6 degrees, and actor observation noise"
+    ],
+    "relaxed": [
+      "flat terrain only",
+      "random push disturbances removed",
+      "non-backlash robot model",
+      "CoM/head-CoM and head/body pose-command widening curricula removed",
+      "weaker posture, angular-motion, foot-slip, and action-rate regularization; head/body pose tracking disabled",
+      "motor-gain randomization and randomized initial base tilt disabled in inherited base recipe"
+    ],
+    "hardware_validated": false
+  },
+  "media": {
+    "preview": "media/preview.mp4",
+    "run_into_mat": "media/run-into-mat.mp4",
+    "run_into_mat_note": "Same policy checkpoint; obstacle, collision augmentation, camera treatment, motor cutoff, and sparks are scripted demo elements. The policy has no obstacle perception.",
+    "audio": false
+  },
+  "source_artifact_sha256": "b4e285fb3671f52c28f671bd4733a4e11fa17c21f40d25f52eaf2614f9e2e02a",
+  "artifacts": {
+    "policy_onnx_sha256": "b4e285fb3671f52c28f671bd4733a4e11fa17c21f40d25f52eaf2614f9e2e02a"
+  }
+}

legacy/iteration-8749/media/preview.mp4

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+size 3133555

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manifest.json

@@ -19,11 +19,7 @@
     ],
     "head": "unused; zeros",
     "body": "unused; zeros",
-    "idle": [
-      0,
-      0,
-      0
-    ],
+    "idle": [0, 0, 0],
     "exact_zero_training_fraction": 0.03
   },
   "robot": {
@@ -37,7 +33,7 @@
     "task_id": "Mjlab-Running-Flat-MicroDuck",
     "algorithm": "PPO (rsl_rl)",
     "repo": "Vottivott/microduck-playground",
-    "commit": "6a558088016232c29455983f888ce5667c1a435e",
+    "commit": "828d950134e29a8d04cbb51720a22c8729047fb7",
     "upstream_base": "pollen-robotics/microduck_rl@d424a0c899f6b33cbd3daeb279913134349c0b63",
     "checkpoint_iteration": 12195,
     "resumed_from": "iteration 11748",
@@ -51,37 +47,13 @@
       "MICRODUCK_RUNNING_FORWARD_PROGRESS_WEIGHT": 5.0,
       "MICRODUCK_RUNNING_ENABLE_SYMMETRY": false,
       "MICRODUCK_RUNNING_ENABLE_HEADING_FEEDBACK": false,
-      "foot_friction_range": [
-        0.7,
-        1.3
-      ],
-      "push_interval_s": [
-        3.0,
-        6.0
-      ]
+      "foot_friction_range": [0.7, 1.3],
+      "push_interval_s": [3.0, 6.0]
     },
     "robustification_stages": [
-      {
-        "updates": 100,
-        "push_m_s": 0.03,
-        "trunk_com_m": 0.003,
-        "head_com_m": 0.003,
-        "initial_tilt_deg": 1.0
-      },
-      {
-        "updates": 150,
-        "push_m_s": 0.06,
-        "trunk_com_m": 0.005,
-        "head_com_m": 0.005,
-        "initial_tilt_deg": 1.5
-      },
-      {
-        "updates": 200,
-        "push_m_s": 0.1,
-        "trunk_com_m": 0.008,
-        "head_com_m": 0.006,
-        "initial_tilt_deg": 2.0
-      }
+      {"updates": 100, "push_m_s": 0.03, "trunk_com_m": 0.003, "head_com_m": 0.003, "initial_tilt_deg": 1.0},
+      {"updates": 150, "push_m_s": 0.06, "trunk_com_m": 0.005, "head_com_m": 0.005, "initial_tilt_deg": 1.5},
+      {"updates": 200, "push_m_s": 0.1, "trunk_com_m": 0.008, "head_com_m": 0.006, "initial_tilt_deg": 2.0}
     ],
     "export": "scripts/export.py; observation normalizer baked into policy.onnx",
     "continuation_checkpoint": {
@@ -97,45 +69,20 @@
     "duration_s": 10.0,
     "warmup_s": 1.0,
     "results": {
-      "nominal_plain": {
-        "num_envs": 512,
-        "speed_m_s": 1.6510932445526123,
-        "survival": 0.9921875
-      },
-      "stress_plain": {
-        "num_envs": 512,
-        "speed_m_s": 1.6349653005599976,
-        "survival": 0.98828125
-      },
-      "nominal_backlash": {
-        "num_envs": 256,
-        "speed_m_s": 1.6362495422363281,
-        "survival": 0.98828125
-      },
-      "stress_backlash": {
-        "num_envs": 256,
-        "speed_m_s": 1.6121970415115356,
-        "survival": 0.984375
-      },
-      "high_grip_stress": {
-        "num_envs": 512,
-        "speed_m_s": 1.6424154043197632,
-        "survival": 0.966796875
-      }
-    },
-    "stress": {
-      "push_m_s": 0.1,
-      "trunk_com_m": 0.01,
-      "head_com_m": 0.006,
-      "initial_tilt_deg": 2.0
+      "nominal_plain": {"num_envs": 512, "speed_m_s": 1.6510932445526123, "survival": 0.9921875},
+      "stress_plain": {"num_envs": 512, "speed_m_s": 1.6349653005599976, "survival": 0.98828125},
+      "nominal_backlash": {"num_envs": 256, "speed_m_s": 1.6362495422363281, "survival": 0.98828125},
+      "stress_backlash": {"num_envs": 256, "speed_m_s": 1.6121970415115356, "survival": 0.984375},
+      "high_grip_stress": {"num_envs": 512, "speed_m_s": 1.6424154043197632, "survival": 0.966796875}
     },
+    "stress": {"push_m_s": 0.1, "trunk_com_m": 0.01, "head_com_m": 0.006, "initial_tilt_deg": 2.0},
     "known_limits": "Heading and lateral drift remain substantial. Never tested on hardware."
   },
   "onnx_contract": {
     "observation_normalizer_embedded": true,
     "training_action_clipping": false,
     "onnx_output_clip": false,
-    "checkpoint_parity_max_abs_error": 7.62939453125e-06
+    "checkpoint_parity_max_abs_error": 0.00000762939453125
   },
   "sim2real": {
     "retained": [
@@ -156,19 +103,15 @@
     "hardware_validated": false
   },
   "versions": {
-    "default": {
-      "iteration": 12195,
-      "policy": "policy.onnx",
-      "checkpoint": "checkpoint.pt",
-      "preview": "media/preview.mp4"
-    },
-    "speed_parent": {
-      "iteration": 11748,
-      "directory": "lineage/iteration-11748"
-    }
+    "default": {"iteration": 12195, "policy": "policy.onnx", "checkpoint": "checkpoint.pt", "preview": "media/preview.mp4"},
+    "speed_parent": {"iteration": 11748, "directory": "lineage/iteration-11748"},
+    "legacy_mat_policy": {"iteration": 8749, "directory": "legacy/iteration-8749"}
   },
   "media": {
     "preview": "media/preview.mp4",
+    "run_into_mat": "media/run-into-mat.mp4",
+    "run_into_mat_policy_iteration": 8749,
+    "run_into_mat_note": "The mat, collision augmentation, camera treatment, motor cutoff, and sparks are scripted demo elements. The policy has no obstacle perception.",
     "audio": false
   },
   "source_artifact_sha256": "007707dd7779b2756ded67c58b2e9f94fe5071794a48c2b5a20d5f8d841efbeb",

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