Torque-safe locomotion policies for the BorderCollieRobot quadruped (0.5x scale, 8x RS01 + 6x RS00). Gate: Hard gate checks delivered torque vs RS01 17 N.m / RS00 14 N.m. MARGINAL = hard limits not violated, but P99 > 70% soft threshold. All three cleared the hard limits; zero FAILs under the new delivered gate. - policy.onnx - Deployed policy ([1,61] -> [1,14], 50Hz) - model199.pt - PPO checkpoint (200 iters) - evalmeta.json - Evaluation metadata - effortlimit = 17/14 N.m (peak) - Other weights frozen at Phase 3 trial #7 Phase 4 (after P0 motor identification): full fine-tuning to push MARGINAL -> PASS. See collierlphases.pdf for the complete story.
Independent publisher
Yao Xiao
yaoxiao-0512
Models in Library1
Datasets in Library0
Models on Hugging Face1
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