Upload fixed-line curriculum run himalaya-reach-gi-anchored-fresh

runs/himalaya-reach-gi-anchored-fresh/evaluation/evaluations.npz

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runs/himalaya-reach-gi-anchored-fresh/g1_fixed_line_direct_reach_candidate.zip

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runs/himalaya-reach-gi-anchored-fresh/training_metadata.json

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+{
+  "algorithm": "PPO",
+  "curriculum_stage": "reach",
+  "policy_distribution": "diagonal Gaussian actor with learned log standard deviation",
+  "training_run_target_timesteps": 400000,
+  "selected_checkpoint_timesteps": 30000,
+  "num_parallel_envs": 16,
+  "rollout_steps_per_env": 512,
+  "actor_readout_trust_region": null,
+  "actor_readout_warmup_timesteps": 0,
+  "critic_warmup_learning_rate": null,
+  "seed": 20260952,
+  "device": "cpu",
+  "torch_build": "2.13.0+cu130",
+  "observation_dim": 120,
+  "action_dim": 29,
+  "actions": [
+    "left_hip_pitch_joint",
+    "left_hip_roll_joint",
+    "left_hip_yaw_joint",
+    "left_knee_joint",
+    "left_ankle_pitch_joint",
+    "left_ankle_roll_joint",
+    "right_hip_pitch_joint",
+    "right_hip_roll_joint",
+    "right_hip_yaw_joint",
+    "right_knee_joint",
+    "right_ankle_pitch_joint",
+    "right_ankle_roll_joint",
+    "waist_yaw_joint",
+    "waist_roll_joint",
+    "waist_pitch_joint",
+    "left_shoulder_pitch_joint",
+    "left_shoulder_roll_joint",
+    "left_shoulder_yaw_joint",
+    "left_elbow_joint",
+    "left_wrist_roll_joint",
+    "left_wrist_pitch_joint",
+    "left_wrist_yaw_joint",
+    "right_shoulder_pitch_joint",
+    "right_shoulder_roll_joint",
+    "right_shoulder_yaw_joint",
+    "right_elbow_joint",
+    "right_wrist_roll_joint",
+    "right_wrist_pitch_joint",
+    "right_wrist_yaw_joint"
+  ],
+  "policy_network": [
+    256,
+    256,
+    256
+  ],
+  "value_network": [
+    256,
+    256,
+    256
+  ],
+  "activation": "tanh",
+  "parameter_counts": {
+    "actor": 170042,
+    "critic": 162817,
+    "total": 332859
+  },
+  "terrain": "physical 28-degree snow slope",
+  "rope": "stretchable collidable MuJoCo 1-D flex threaded through the cam and resting on the slope away from the device",
+  "ascender": "compact handled cam clamp with an unactuated slide joint and unilateral ratcheting lower limit",
+  "prepared_initial_condition": "molded handle center connected inside the right palm between curled fingers and opposing thumb",
+  "forbidden_controllers_absent": [
+    "gait generator",
+    "inverse kinematics",
+    "reference motion",
+    "step phase machine",
+    "pelvis support force",
+    "orientation balance torque",
+    "direct uphill force"
+  ],
+  "resume": null,
+  "fine_tune": false,
+  "actor_init": null,
+  "copy_critic": false,
+  "selection_source": "/workspace/himalaya/models/himalaya-reach-gi-anchored-fresh/checkpoints/g1_fixed_line_direct_30000_steps.zip",
+  "selection_uses_shaped_return": false,
+  "passes_task_promotion": false,
+  "final_policy_updated": false,
+  "promotion_report": "/workspace/himalaya/models/himalaya-reach-gi-anchored-fresh/checkpoint_promotion_report.json"
+}