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  1. README.md +18 -16
  2. go2_rl_robotlab/symmetry_v1_77k_0.7006_bb4a078_20260706/exported/policy.onnx +3 -0
  3. go2_rl_robotlab/symmetry_v1_77k_0.7006_bb4a078_20260706/exported/policy.pt +3 -0
  4. go2_rl_robotlab/symmetry_v1_77k_0.7006_bb4a078_20260706/model_77000.pt +3 -0
  5. go2_rl_robotlab/symmetry_v1_77k_0.7006_bb4a078_20260706/results_77000.yaml +0 -0
  6. go2_rl_robotlab/symmetry_v1_77k_0.7006_bb4a078_20260706/robogauge_logs_tb/events.out.tfevents.1784548266.i-A938E8EC.3168974.0 +3 -0
README.md CHANGED
@@ -10,25 +10,27 @@ Checkpoint files for [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym) and [go2
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  The table below mirrors the evaluation table in the main repository README.
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  `Link` points to the corresponding Hugging Face file or folder page.
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-
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- | Model | Best Train Step | Score | Tracking | Safety | Quality | Level | Link |
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- | --- | --- | --- | --- | --- | --- | --- | --- |
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- | go2_moe_cts (RobotLab v4.2) | 176k | **0.6984** | **0.7055** | 0.7850 | 0.7845 | **8.62** | [go2_moe_cts_v4.2_176k_0.6984](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_rl_robotlab/go2_moe_cts_v4.2_176k_0.6984_20260626) |
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- | go2_moe_cts_symmetry (RobotLab v5.1) | 52k | 0.6953 | 0.7029 | **0.7893** | **0.7884** | 8.49 | [go2_moe_cts_symmetry_v5.1_52k_0.6953](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_rl_robotlab/go2_moe_cts_symmetry_v5.1_52k_0.6953_20260703) |
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- | go2_moe_cts (RobotLab v3.3) | 185k | 0.6828 | 0.6785 | 0.7552 | 0.7645 | 8.17 | [go2_moe_cts_v3.3_185k_0.6828](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_rl_robotlab/go2_moe_cts_v3.3_185k_0.6828_jit_onnx_robogauge_result_20260616) |
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- | go2_moe_cts (go2_rl_gym) | 137k | 0.6713 | 0.6669 | 0.7857 | 0.7392 | 7.85 | [go2_moe_cts_137000_0.6713](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_moe_cts_137000_0.6713) |
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- | go2_ac_moe_cts | 115k | 0.6509 | 0.6442 | 0.7644 | 0.7149 | 7.52 | [go2_ac_moe_cts_115k_0.6509.pt](https://huggingface.co/wty-yy/go2_rl_gym_data/blob/main/go2_ac_moe_cts_115k_0.6509.pt) |
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- | go2_mcp_cts | 91k | 0.6399 | 0.6355 | 0.7542 | 0.7058 | 7.41 | [go2_mcp_cts_91k_0.6399](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_mcp_cts_91k_0.6399) |
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- | go2_moe_ng_cts | 79k | 0.6519 | 0.6447 | 0.7639 | 0.7186 | 7.56 | [go2_moe_ng_cts_79k_0.6519](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_moe_ng_cts_79k_0.6519) |
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- | [CTS](https://arxiv.org/pdf/2405.10830) vanilla | 103.5k | 0.5786 | 0.5755 | 0.7066 | 0.6624 | 6.83 | [go2_cts_vanilla2_103.5k_0.5786](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_cts_vanilla2_103.5k_0.5786) |
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- | [HIM](https://arxiv.org/abs/2312.11460) | 21k | 0.5379 | 0.5453 | 0.6476 | 0.6050 | 6.19 | [go2_him_21k_0.5379.pt](https://huggingface.co/wty-yy/go2_rl_gym_data/blob/main/go2_him_21k_0.5379.pt) |
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- | [DreamWaQ](https://arxiv.org/abs/2301.10602) | 119.5k | 0.5054 | 0.5105 | 0.6149 | 0.5730 | 5.74 | [go2_dwaq_119.5k_0.5054.pt](https://huggingface.co/wty-yy/go2_rl_gym_data/blob/main/go2_dwaq_119.5k_0.5054.pt) |
 
 
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  Additional self-collision-enabled result:
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- | Model | Best Train Step | Score | Download |
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- | --- | --- | --- | --- |
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- | go2_moe_cts_high_slope_thre | 164k | 0.6715 | [go2_moe_cts_high_slope_thre_164k_0.6715_20260419](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_moe_cts_high_slope_thre_164k_0.6715_20260419) |
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  ## 🚀 Usage
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  The table below mirrors the evaluation table in the main repository README.
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  `Link` points to the corresponding Hugging Face file or folder page.
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+ `Last Updated` records the artifact release date; legacy entries without a dated name use their initial Hugging Face release date.
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+
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+ | Model | Best Train Step | Score | Tracking | Safety | Quality | Level | Link | Last Updated |
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+ | --- | --- | --- | --- | --- | --- | --- | --- | --- |
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+ | go2_moe_cts_symmetry (bb4a078) | 77k | **0.7006** | **0.7091** | 0.7892 | **0.7891** | 8.51 | [symmetry_v1_77k_0.7006_bb4a078](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_rl_robotlab/symmetry_v1_77k_0.7006_bb4a078_20260706) | 2026-07-06 |
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+ | go2_moe_cts (RobotLab v4.2) | 176k | 0.6984 | 0.7055 | 0.7850 | 0.7845 | **8.62** | [go2_moe_cts_v4.2_176k_0.6984](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_rl_robotlab/go2_moe_cts_v4.2_176k_0.6984_20260626) | 2026-06-26 |
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+ | go2_moe_cts_symmetry | 52k | 0.6953 | 0.7029 | **0.7893** | 0.7884 | 8.49 | [go2_moe_cts_symmetry_v5.1_52k_0.6953](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_rl_robotlab/go2_moe_cts_symmetry_v5.1_52k_0.6953_20260703) | 2026-07-03 |
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+ | go2_moe_cts (RobotLab v3.3) | 185k | 0.6828 | 0.6785 | 0.7552 | 0.7645 | 8.17 | [go2_moe_cts_v3.3_185k_0.6828](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_rl_robotlab/go2_moe_cts_v3.3_185k_0.6828_jit_onnx_robogauge_result_20260616) | 2026-06-16 |
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+ | go2_moe_cts (go2_rl_gym) | 137k | 0.6713 | 0.6669 | 0.7857 | 0.7392 | 7.85 | [go2_moe_cts_137000_0.6713](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_moe_cts_137000_0.6713) | 2026-01-31 |
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+ | go2_ac_moe_cts | 115k | 0.6509 | 0.6442 | 0.7644 | 0.7149 | 7.52 | [go2_ac_moe_cts_115k_0.6509.pt](https://huggingface.co/wty-yy/go2_rl_gym_data/blob/main/go2_ac_moe_cts_115k_0.6509.pt) | 2026-01-31 |
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+ | go2_mcp_cts | 91k | 0.6399 | 0.6355 | 0.7542 | 0.7058 | 7.41 | [go2_mcp_cts_91k_0.6399](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_mcp_cts_91k_0.6399) | 2026-01-31 |
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+ | go2_moe_ng_cts | 79k | 0.6519 | 0.6447 | 0.7639 | 0.7186 | 7.56 | [go2_moe_ng_cts_79k_0.6519](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_moe_ng_cts_79k_0.6519) | 2026-01-31 |
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+ | [CTS](https://arxiv.org/pdf/2405.10830) vanilla | 103.5k | 0.5786 | 0.5755 | 0.7066 | 0.6624 | 6.83 | [go2_cts_vanilla2_103.5k_0.5786](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_cts_vanilla2_103.5k_0.5786) | 2026-01-31 |
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+ | [HIM](https://arxiv.org/abs/2312.11460) | 21k | 0.5379 | 0.5453 | 0.6476 | 0.6050 | 6.19 | [go2_him_21k_0.5379.pt](https://huggingface.co/wty-yy/go2_rl_gym_data/blob/main/go2_him_21k_0.5379.pt) | 2026-01-31 |
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+ | [DreamWaQ](https://arxiv.org/abs/2301.10602) | 119.5k | 0.5054 | 0.5105 | 0.6149 | 0.5730 | 5.74 | [go2_dwaq_119.5k_0.5054.pt](https://huggingface.co/wty-yy/go2_rl_gym_data/blob/main/go2_dwaq_119.5k_0.5054.pt) | 2026-01-31 |
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  Additional self-collision-enabled result:
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+ | Model | Best Train Step | Score | Download | Last Updated |
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+ | --- | --- | --- | --- | --- |
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+ | go2_moe_cts_high_slope_thre | 164k | 0.6715 | [go2_moe_cts_high_slope_thre_164k_0.6715_20260419](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_moe_cts_high_slope_thre_164k_0.6715_20260419) | 2026-04-19 |
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  ## 🚀 Usage
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