bordercollie-torque-hpo is an open-weight model from Yao Xiao. Its published files total 3.7 MB.
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.
Model Card
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.
Excerpt from the card by Yao Xiao.
Identity and Version
- Repository
- yaoxiao-0512/bordercollie-torque-hpo
- Publisher
- Yao Xiao
- Task
- Not stated by the source
- Modality
- Other
- Library
- Not stated by the source
- Parameters
- Not stated by the source
- Languages
- Not stated by the source
- Revision
- b00c9ff1a626f3e7b70992d102194f3a80f49389
- First published
- 2026-10-05
- Last updated
- 2026-10-05
Files and Weights
11 files, 3.7 MB in total. The weights are 6 files totalling 3.7 MB in onnx, pt.
Every file
| File | Type | Size | SHA-256 |
|---|---|---|---|
| trial_11/model_199.pt | Weights | 1.0 MB | 59a44fd14f6e |
| trial_11/policy.onnx | Weights | 177.1 KB | 2df1e8476038 |
| trial_5/model_199.pt | Weights | 1.0 MB | fcf4931d4098 |
| trial_5/policy.onnx | Weights | 177.1 KB | 00312f60b0a7 |
| trial_9/model_199.pt | Weights | 1.0 MB | 2af254746702 |
| trial_9/policy.onnx | Weights | 177.1 KB | 70c4e662fc53 |
| trial_11/eval_meta.json | Configuration | 3.3 KB | — |
| trial_5/eval_meta.json | Configuration | 3.3 KB | — |
| trial_9/eval_meta.json | Configuration | 3.3 KB | — |
| README.md | Documentation | 1.2 KB | — |
| .gitattributes | Repository | 1.5 KB | — |
License and Download
- License
- Not stated by the source
- Access
- Open weights, no gate
- Download size
- 3.7 MB
Released by Yao Xiao through its official repository on Hugging Face.
Memory Requirements
| Precision | Weights in memory |
|---|---|
| As published | 3.7 MB |
Weights only, from the published parameter count; the key-value cache and runtime add to this.