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Official baselines not established. Free-base gravity/contact dynamics with provisional CAD inertia, gains and serial-equivalent ankles; no physical robot validation. Nominal starts identically; perturbed test changes initial conditions. Sole-center speed is conditioned on reference support labels, not measured contact forces; initial 25 frames excluded from error statistics.", "official_bridge_artifact": false, "physical_robot_validated": false, "official_baseline_established": false, "sim_to_real_gap": "Potentially large and currently unquantified" }, { "id": "bridge_gangnam_style_v3", "robot": "bridge", "status": "user_selected_learning_reference", "run": "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_14-05-32_gangnam_style_v3_fresh_4096", "checkpoint": "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_14-05-32_gangnam_style_v3_fresh_4096/model_2999.pt", "reference": "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_14-05-32_gangnam_style_v3_fresh_4096/reference.npz", "experiment": "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_14-05-32_gangnam_style_v3_fresh_4096/experiment.json", "evaluation": "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_14-05-32_gangnam_style_v3_fresh_4096/evaluations/model_2999/evaluation.json", "frames": 1618, "fps": 50.0, "evaluated_duration_s": 32.36, "seed": 42, "num_envs_per_test": 32, "nominal_body_position_mean_m": 0.021297002211213112, "nominal_joint_rmse_deg": 6.215642871706333, "tests": { "nominal": { "completed": 32, "failed": 0, "completion_rate": 1.0, "observed_fall_before_reset": 0 }, "perturbed": { "completed": 32, "failed": 0, "completion_rate": 1.0, "observed_fall_before_reset": 0 }, "kick": { "completed": 32, "failed": 0, "completion_rate": 1.0, "observed_fall_before_reset": 0 } }, "sha256": { "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_14-05-32_gangnam_style_v3_fresh_4096/model_2999.pt": "db059beddc0d622873429c3b286d80117277ac63a6ffa1f1fa6e7caaecf16928", "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_14-05-32_gangnam_style_v3_fresh_4096/reference.npz": "4fb795416b8be9753a7bac913c996934489a6472a5853036cdd6f1a9eb4fb203", "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_14-05-32_gangnam_style_v3_fresh_4096/evaluations/model_2999/evaluation.json": "1a3812b8d4e26e57b4420f1c999b4e4a27b823b6ab9b3acafc08a10e3e250516" }, "scope": "Self-developed learning simulation only; potentially large unknown real-robot gap. Official baselines not established. Free-base gravity/contact dynamics with provisional CAD inertia, gains and serial-equivalent ankles; no physical robot validation. Nominal starts identically; perturbed test changes initial conditions. Sole-center speed is conditioned on reference support labels, not measured contact forces; initial 25 frames excluded from error statistics.", "user_statement": "这个训练算通过，很不错", "acceptance_record": "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_14-05-32_gangnam_style_v3_fresh_4096/baseline_acceptance.json", "initialization": "random_policy_from_scratch", "num_training_envs": 4096, "training_iterations": 3000, "video": "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_14-05-32_gangnam_style_v3_fresh_4096/evaluations/model_2999/preview/dynamic_tracking.mp4", "official_bridge_artifact": false, "physical_robot_validated": false, "official_baseline_established": false, "sim_to_real_gap": "Potentially large and currently unquantified", "presentation_video": "assets/videos/bridge-gangnam-style-v3-front.mp4", "presentation_render_manifest": "experiments/evidence/amp-failure-review-2026-10-20/bridge-gangnam-style-v3-render.json", "presentation_updated_on": "2026-10-20" }, { "id": "bridge_phut_hon_sway_v1", "robot": "bridge", "status": "user_selected_learning_reference", "run": "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_15-35-24_phut_hon_sway_v1_fresh_4096", "checkpoint": "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_15-35-24_phut_hon_sway_v1_fresh_4096/model_2999.pt", "reference": "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_15-35-24_phut_hon_sway_v1_fresh_4096/reference.npz", "experiment": "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_15-35-24_phut_hon_sway_v1_fresh_4096/experiment.json", "evaluation": "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_15-35-24_phut_hon_sway_v1_fresh_4096/evaluations/model_2999/evaluation.json", "frames": 1591, "fps": 50.0, "evaluated_duration_s": 31.82, "seed": 42, "num_envs_per_test": 32, "nominal_body_position_mean_m": 0.008838393725454807, "nominal_joint_rmse_deg": 1.801965816245547, "tests": { "nominal": { "completed": 32, "failed": 0, "completion_rate": 1.0, "observed_fall_before_reset": 0 }, "perturbed": { "completed": 32, "failed": 0, "completion_rate": 1.0, "observed_fall_before_reset": 0 }, "kick": { "completed": 32, "failed": 0, "completion_rate": 1.0, "observed_fall_before_reset": 0 } }, "sha256": { "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_15-35-24_phut_hon_sway_v1_fresh_4096/model_2999.pt": "ab590df7f1bb651b3286afd56c32c30757e2669b18d8d534e76ef1e5be25ba76", "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_15-35-24_phut_hon_sway_v1_fresh_4096/reference.npz": "0c9ada3b5a4f7150fdd52a64112ac3e97e86ca3d4ec07cc4fac49d00bb09b851", "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_15-35-24_phut_hon_sway_v1_fresh_4096/evaluations/model_2999/evaluation.json": "9d62e7fb177beda0537bbee10eb5b422a0c25f24d8792f2dd6f992fb9d405ce1" }, "scope": "Self-developed learning simulation only; potentially large unknown real-robot gap. 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Sole-center speed is conditioned on reference support labels, not measured contact forces; initial 25 frames excluded from error statistics.", "user_statement": "就保留V1,V1和V4没区别", "acceptance_record": "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_15-35-24_phut_hon_sway_v1_fresh_4096/baseline_acceptance.json", "initialization": "random_policy_from_scratch", "num_training_envs": 4096, "training_iterations": 3000, "video": "/home/z/bridge/rl/bridge_tracking/logs/2026-10-19_15-35-24_phut_hon_sway_v1_fresh_4096/evaluations/model_2999/preview/dynamic_tracking.mp4", "official_bridge_artifact": false, "physical_robot_validated": false, "official_baseline_established": false, "sim_to_real_gap": "Potentially large and currently unquantified", "presentation_video": "assets/videos/bridge-phut-hon-v1-front.mp4", "presentation_render_manifest": "experiments/evidence/amp-failure-review-2026-10-20/bridge-phut-hon-v1-render.json", "presentation_updated_on": "2026-10-20" } ], "official_bridge_baseline_established": false, "bridge_artifact_origin": "self-developed or locally adapted learning experiments; not official Bridge artifacts", "future_bridge_sequence": "Official simulation baseline and official real-robot deployment baseline first, then extensions." }