EmbodiChain models
Pretrained model bundles for EmbodiChain.
This repository contains 12 PPO policies: ANYmal-C, G1 flat locomotion, Go1, Go2,
H1_2 and MicroDuck, each with default and newton physics configurations.
- Model index: model IDs, tasks and tested runtime information.
policies/<model-id>/: weights, RunManifest, configuration snapshots and evaluation evidence.- Policy evaluation documentation: installation prerequisites, commands and options are maintained in EmbodiChain.
- Robot assets are distributed separately in
DexForceAI/embodichain_data.
HF revisions version the index and bundles together. No videos are included.
Evaluation and licensing
No weight license is currently declared. EmbodiChain's code license does not establish the redistribution terms of these weights.
All 12 policies completed 1,000 control steps (20 simulated seconds) with FastRT using the public DexSim 0.5.0 wheel, Warp 1.15.0 and Newton 1.4.0. Robot assets were downloaded through the standard resolver into a new cache. G1 was also evaluated headlessly on both backends, starting with empty model and asset caches. Checkpoint training counters and runtime versions are recorded in each evaluation.json.
The evaluation used EmbodiChain main at 1b23ea0a with the proposed pretrained
download entry point. Automatic --pretrained support is being prepared for
EmbodiChain; the bundles already use its existing native RUN layout.