Velocity-commanded walking policy for Asimov 1, trained in Isaac Lab with PPO. It is a base walk meant for later skills to build on: forward, backward and sideways walking, turning while walking or on the spot, and standing still. The gait was shaped with a reference cycle from an everyday human walk (CMU motion capture, retargeted with GMR) and a light AMP style reward. It was then trained further for balance (pushes from every direction, steady forces, harder terrain) and for robustness to differences between simulation and the robot (IMU tilt bias, motor strength and gain changes, extra mass, command latency, joint friction, low-friction floors). A terrain height map was used by the…