This repository contains the official trained policies for The files are organized by task environment and training seed: The play.py script in the JoSE repository downloads a pretrained model and executes it in the corresponding environment, allowing agent behaviour to be visualized. The script is called from the repo root as follows: Seeds vary by hand and task. See the HuggingFace model directory to see which seeds are available for each task-hand combination.
Open-weight model · Reinforcement learning
rl-locomotion-steering-vectors
by Burny BurnyCoder/rl-locomotion-steering-vectors
rl-locomotion-steering-vectors is an open-weight model for reinforcement learning from Burny. Its published files total 960.1 MB.
This repository publishes activation vectors, controls, numerical episodes, and reports from the research code. A fixed vector is added to a frozen RL actor's first ReLU output. No behavioral cloning, imitation training, or new policy training was performed.
Model Card
This repository publishes activation vectors, controls, numerical episodes, and reports from the research code. A fixed vector is added to a frozen RL actor's first ReLU output. No behavioral cloning, imitation training, or new policy training was performed. Upstream checkpoint weights are referenced, not redistributed. The 256-component lateral vector at alpha −0.1 increases world-Y velocity by +0.40238 m/s, paired 95% interval [+0.30803, +0.49127], on 30 fresh paired confirmation episodes, while retaining 96.83% of baseline mean forward speed. These are equal-episode averages of each episode's available post-onset mean velocities; 96.83% is a ratio of mean X velocities, not total distance…
Excerpt from the card by Burny.
Identity and Version
- Repository
- BurnyCoder/rl-locomotion-steering-vectors
- Publisher
- Burny
- Task
- Reinforcement learning
- Modality
- Control
- Library
- Not stated by the source
- Parameters
- Not stated by the source
- Languages
- en
- Revision
- d912e5ab82ade8b5073d71cedbfc53c657601dfc
- First published
- 2026-09-07
- Last updated
- 2026-09-26
Files and Weights
4,458 files, 960.1 MB in total. The weights are 3000 files totalling 876.9 MB in npz.
Every file (first 3,000)
| File | Type | Size | SHA-256 |
|---|---|---|---|
| experiments/ant-classic-005/action_biases.npz | Weights | 252 B | 0e708066df68 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520000.npz | Weights | 297.5 KB | 273864868952 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520001.npz | Weights | 297.0 KB | 95211b6e7d51 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520002.npz | Weights | 297.7 KB | 47d5ec077d27 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520003.npz | Weights | 297.5 KB | a8651d34fdf3 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520004.npz | Weights | 240.9 KB | 888f0042fcb4 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520005.npz | Weights | 297.5 KB | bce32ad80bed |
| experiments/ant-classic-005/episodes/confirmation/baseline/520006.npz | Weights | 297.5 KB | 2cfd8831eeef |
| experiments/ant-classic-005/episodes/confirmation/baseline/520007.npz | Weights | 208.6 KB | 4b98161ad56c |
| experiments/ant-classic-005/episodes/confirmation/baseline/520008.npz | Weights | 297.4 KB | 39ec18c431b9 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520009.npz | Weights | 297.2 KB | 146ebb574c03 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520010.npz | Weights | 297.5 KB | e33ebc13fc43 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520011.npz | Weights | 297.1 KB | 6dd25c90e96c |
| experiments/ant-classic-005/episodes/confirmation/baseline/520012.npz | Weights | 297.6 KB | ece5ee220585 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520013.npz | Weights | 297.5 KB | 0bb933f63bb9 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520014.npz | Weights | 297.4 KB | 5f31cef84255 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520015.npz | Weights | 297.6 KB | 15cca031420e |
| experiments/ant-classic-005/episodes/confirmation/baseline/520016.npz | Weights | 297.4 KB | b32e235427d6 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520017.npz | Weights | 297.7 KB | 2d286ac2ab36 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520018.npz | Weights | 297.5 KB | 17c189f45b6d |
| experiments/ant-classic-005/episodes/confirmation/baseline/520019.npz | Weights | 297.5 KB | 28fa1510df85 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520020.npz | Weights | 297.1 KB | 1c8977b2e62f |
| experiments/ant-classic-005/episodes/confirmation/baseline/520021.npz | Weights | 297.4 KB | 27fb233eb98d |
| experiments/ant-classic-005/episodes/confirmation/baseline/520022.npz | Weights | 297.1 KB | 370f81766468 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520023.npz | Weights | 297.5 KB | ec6001371fed |
| experiments/ant-classic-005/episodes/confirmation/baseline/520024.npz | Weights | 297.2 KB | d2c074e5f226 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520025.npz | Weights | 13.8 KB | e9b4c1b7362d |
| experiments/ant-classic-005/episodes/confirmation/baseline/520026.npz | Weights | 297.4 KB | bd84dce63c4c |
| experiments/ant-classic-005/episodes/confirmation/baseline/520027.npz | Weights | 62.2 KB | 5009c70cd499 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520028.npz | Weights | 297.5 KB | 73fc978de386 |
| experiments/ant-classic-005/episodes/confirmation/baseline/520029.npz | Weights | 297.3 KB | 44897219adc1 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520000.npz | Weights | 297.5 KB | 774b5b944a50 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520001.npz | Weights | 297.4 KB | 92c9b21f5689 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520002.npz | Weights | 297.4 KB | 5061171f1dbc |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520003.npz | Weights | 297.5 KB | 5dd9bd911b3a |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520004.npz | Weights | 297.5 KB | ff1d8a1a59c3 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520005.npz | Weights | 297.6 KB | d31d1f5d33d6 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520006.npz | Weights | 297.6 KB | f8b19cf34f79 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520007.npz | Weights | 297.5 KB | 4b140bf6ed5f |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520008.npz | Weights | 297.5 KB | a9567b339910 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520009.npz | Weights | 297.5 KB | 467c0d037f8e |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520010.npz | Weights | 61.3 KB | 75bd12d5deb7 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520011.npz | Weights | 297.4 KB | 962a16a6645f |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520012.npz | Weights | 297.5 KB | eda0528a267f |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520013.npz | Weights | 297.4 KB | fb98f5014e47 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520014.npz | Weights | 297.5 KB | c8f6b52e3b29 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520015.npz | Weights | 297.8 KB | d3c83891debf |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520016.npz | Weights | 297.3 KB | 59172fd8e967 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520017.npz | Weights | 297.9 KB | fff91c3f8f38 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520018.npz | Weights | 297.6 KB | c834f26d3bfd |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520019.npz | Weights | 297.5 KB | 1ff16e03a245 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520020.npz | Weights | 163.2 KB | 3ac84e2de483 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520021.npz | Weights | 297.5 KB | b47b4494a4ba |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520022.npz | Weights | 297.5 KB | cf685a13f2d0 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520023.npz | Weights | 297.5 KB | 1ef62c7b968d |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520024.npz | Weights | 297.3 KB | b5816a5be001 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520025.npz | Weights | 13.8 KB | e9b4c1b7362d |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520026.npz | Weights | 265.8 KB | e3592c6062b6 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520027.npz | Weights | 297.5 KB | bc702a831c77 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520028.npz | Weights | 297.4 KB | b6fa918bf957 |
| experiments/ant-classic-005/episodes/confirmation/lateral__-0.1000/520029.npz | Weights | 297.6 KB | fde6c279ec5d |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520000.npz | Weights | 297.4 KB | 687863f57594 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520001.npz | Weights | 297.6 KB | cc2b8b409c21 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520002.npz | Weights | 297.7 KB | 7366486a56b3 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520003.npz | Weights | 297.7 KB | 1e999fd6e0d1 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520004.npz | Weights | 297.4 KB | 0d230369f623 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520005.npz | Weights | 297.8 KB | c76e5b66c047 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520006.npz | Weights | 297.6 KB | 936ad84365c2 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520007.npz | Weights | 297.5 KB | beff79470cee |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520008.npz | Weights | 297.7 KB | 21f3742bc18d |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520009.npz | Weights | 297.5 KB | 05ae53dae5b8 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520010.npz | Weights | 297.6 KB | fa203abbd4ef |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520011.npz | Weights | 297.4 KB | 30fe3166236c |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520012.npz | Weights | 297.4 KB | 8d4e493d0bc3 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520013.npz | Weights | 297.2 KB | 64fa024970bb |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520014.npz | Weights | 297.8 KB | cfdaa1f49e72 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520015.npz | Weights | 297.6 KB | de358b0162b2 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520016.npz | Weights | 297.3 KB | 55c06d9201b9 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520017.npz | Weights | 297.6 KB | 764dbd40dead |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520018.npz | Weights | 297.3 KB | efa201c8ffaf |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520019.npz | Weights | 297.5 KB | f2a80c638781 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520020.npz | Weights | 297.5 KB | aa38c0fef909 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520021.npz | Weights | 297.3 KB | 0b465f618cdf |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520022.npz | Weights | 297.6 KB | b31bd78bb0f8 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520023.npz | Weights | 297.7 KB | 3db3ebcf3b3f |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520024.npz | Weights | 297.5 KB | d4fd48ded7f6 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520025.npz | Weights | 13.8 KB | e9b4c1b7362d |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520026.npz | Weights | 297.5 KB | e8dd6df06e89 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520027.npz | Weights | 297.7 KB | e7da61ce1de3 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520028.npz | Weights | 297.6 KB | f94d4723bb96 |
| experiments/ant-classic-005/episodes/confirmation/lateral_bias__+0.5000/520029.npz | Weights | 297.7 KB | 819f88bef845 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520000.npz | Weights | 297.4 KB | 3de14471c833 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520001.npz | Weights | 297.3 KB | e0ea0e590dc7 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520002.npz | Weights | 297.3 KB | 37f09c42fed5 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520003.npz | Weights | 297.4 KB | 610bb8a41b05 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520004.npz | Weights | 297.2 KB | abb7e3eebeb3 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520005.npz | Weights | 297.3 KB | a16d9e92119a |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520006.npz | Weights | 297.3 KB | 6b1f0fefd9b1 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520007.npz | Weights | 297.3 KB | 8ecd001cae52 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520008.npz | Weights | 297.3 KB | 2cabb836e5ea |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520009.npz | Weights | 297.2 KB | dbcc84338b8f |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520010.npz | Weights | 296.9 KB | fada6c3c90d6 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520011.npz | Weights | 296.9 KB | 3af071ebb7e0 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520012.npz | Weights | 297.6 KB | 5e8bcd21499a |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520013.npz | Weights | 297.4 KB | ace784ac94a5 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520014.npz | Weights | 297.4 KB | 1c869cc686d8 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520015.npz | Weights | 297.3 KB | 1847ebfd2b25 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520016.npz | Weights | 297.2 KB | 3d893fa4fefe |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520017.npz | Weights | 297.4 KB | 2e1d1a7cae7d |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520018.npz | Weights | 297.6 KB | 8bae5afebcce |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520019.npz | Weights | 297.0 KB | 6004e3be32dc |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520020.npz | Weights | 148.3 KB | 2cdf82b488f9 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520021.npz | Weights | 297.2 KB | 4ca4d946a905 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520022.npz | Weights | 297.5 KB | 94b8dac146c4 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520023.npz | Weights | 297.4 KB | 2a1e0ef6a278 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520024.npz | Weights | 297.1 KB | 286e778d61bf |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520025.npz | Weights | 13.8 KB | e9b4c1b7362d |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520026.npz | Weights | 297.1 KB | 6c2c355b330d |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520027.npz | Weights | 240.7 KB | 782c1c0433ea |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520028.npz | Weights | 297.1 KB | 06648750d8b7 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random0__-0.0500/520029.npz | Weights | 297.4 KB | 0fc16dd34d09 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520000.npz | Weights | 258.7 KB | 3f9a1f868349 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520001.npz | Weights | 297.6 KB | 0ffabb2a5754 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520002.npz | Weights | 297.5 KB | 477f8b6e53e6 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520003.npz | Weights | 297.4 KB | 65a14b6122d9 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520004.npz | Weights | 297.3 KB | 0b3245a40106 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520005.npz | Weights | 297.2 KB | 300f34e4c7e8 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520006.npz | Weights | 297.2 KB | 0b605e6bf227 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520007.npz | Weights | 297.1 KB | ba5e7f15402a |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520008.npz | Weights | 297.4 KB | ebb4ff1f9d76 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520009.npz | Weights | 297.7 KB | a953effcff17 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520010.npz | Weights | 83.7 KB | f0bb45d0f3c4 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520011.npz | Weights | 297.3 KB | 729794a509d5 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520012.npz | Weights | 110.1 KB | ae66a945b995 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520013.npz | Weights | 297.1 KB | 1b879ade7ea9 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520014.npz | Weights | 297.3 KB | 019db83b3aa8 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520015.npz | Weights | 111.1 KB | 76a0163e564c |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520016.npz | Weights | 297.3 KB | 376107a5701a |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520017.npz | Weights | 297.6 KB | d94d9f2770cf |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520018.npz | Weights | 39.3 KB | c67ab34ca601 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520019.npz | Weights | 297.4 KB | 01e7d01fd9a4 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520020.npz | Weights | 78.5 KB | ac4efff906ec |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520021.npz | Weights | 297.3 KB | 14edbe862e89 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520022.npz | Weights | 297.2 KB | 165b9e4b2f68 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520023.npz | Weights | 297.8 KB | 9aca1f8fb35d |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520024.npz | Weights | 297.4 KB | f022b37a3a63 |
| experiments/ant-classic-005/episodes/confirmation/lateral_random1__-0.1000/520025.npz | Weights | 13.8 KB | e9b4c1b7362d |
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License and Download
- License
- Not stated by the source
- Access
- Open weights, no gate
- Download size
- 876.9 MB
Released by Burny through its official repository on Hugging Face.
Built From
- Derived from farama-minari/Ant-v5-SAC-medium
Memory Requirements
| Precision | Weights in memory |
|---|---|
| As published | 876.9 MB |
Weights only, from the published parameter count; the key-value cache and runtime add to this.
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