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.gitattributes

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+*.avro filter=lfs diff=lfs merge=lfs -text
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README.md

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+---
+license: mit
+---
+
+# Go2 RL GYM Data
+
+Checkpoint files for [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym).
+
+## Files
+
+The table below mirrors the evaluation table in the main repository README.
+`Download` uses relative paths in this dataset repository.
+
+| Model | Score | Tracking | Safety | Quality | Level | Download |
+| --- | --- | --- | --- | --- | --- | --- |
+| go2_moe_cts (Ours) | **0.6713** | **0.6669** | **0.7857** | **0.7392** | **7.85** | [go2_moe_cts_137000_0.6713](./go2_moe_cts_137000_0.6713) |
+| go2_ac_moe_cts | 0.6509 | 0.6442 | 0.7644 | 0.7149 | 7.52 | [go2_ac_moe_cts_115k_0.6509.pt](./go2_ac_moe_cts_115k_0.6509.pt) |
+| go2_mcp_cts | 0.6399 | 0.6355 | 0.7542 | 0.7058 | 7.41 | [go2_mcp_cts_91k_0.6399](./go2_mcp_cts_91k_0.6399) |
+| go2_moe_ng_cts | 0.6519 | 0.6447 | 0.7639 | 0.7186 | 7.56 | [go2_moe_ng_cts_79k_0.6519](./go2_moe_ng_cts_79k_0.6519) |
+| [CTS](https://arxiv.org/pdf/2405.10830) vanilla | 0.5786 | 0.5755 | 0.7066 | 0.6624 | 6.83 | [go2_cts_vanilla2_103.5k_0.5786](./go2_cts_vanilla2_103.5k_0.5786) |
+| [HIM](https://github.com/InternRobotics/HIMLoco) | 0.5379 | 0.5453 | 0.6476 | 0.6050 | 6.19 | [go2_him_21k_0.5379.pt](./go2_him_21k_0.5379.pt) |
+| [DreamWaQ](https://arxiv.org/abs/2301.10602) | 0.5054 | 0.5105 | 0.6149 | 0.5730 | 5.74 | [go2_dwaq_119.5k_0.5054.pt](./go2_dwaq_119.5k_0.5054.pt) |
+
+Additional self-collision-enabled result:
+
+| Model | Score | Download |
+| --- | --- | --- |
+| go2_moe_cts_high_slope_thre | 0.6715 | [go2_moe_cts_high_slope_thre_164k_0.6715_20260419](./go2_moe_cts_high_slope_thre_164k_0.6715_20260419) |
+
+## Usage
+
+File types:
+
+- `policy.pt`: TorchScript policy for Sim2Sim deployment.
+- `policy.onnx`: ONNX policy for C++ / Sim2Real deployment.
+- `policy.pkl`: raw policy weights.
+- `model_*.pt`: full training checkpoint.
+- single `*.pt` files at repository root: standalone checkpoint files kept as released.
+
+Example paths:
+
+```bash
+# Sim2Sim policy
+./go2_moe_cts_137000_0.6713/policy.pt
+
+# ONNX deployment policy
+./go2_moe_cts_137000_0.6713/policy.onnx
+
+# Full training checkpoint
+./go2_moe_cts_self_103.5k_0.6669/model_103500.pt
+```
+
+For training, evaluation, export, and deployment commands, see the main repository [go2_rl_gym README](https://github.com/wty-yy/go2_rl_gym).
+
+## Details
+
+- Most directory entries contain exported policies.
+- `go2_moe_cts_high_slope_thre_164k_0.6715_20260419` contains both exported policies and the full `model_164000.pt`.
+- `go2_moe_cts_self_103.5k_0.6669` contains exported policies and `model_103500.pt`.
+
+## 📄  Citation
+If you find our work helpful, please cite:
+```bibtex
+@article{wu2026robogauge,
+      title={Toward Reliable Sim-to-Real Predictability for MoE-based Robust Quadrupedal Locomotion}, 
+      author={Tianyang Wu and Hanwei Guo and Yuhang Wang and Junshu Yang and Xinyang Sui and Jiayi Xie and Xingyu Chen and Zeyang Liu and Xuguang Lan},
+      year={2026},
+      journal={arXiv preprint arXiv:2602.00678},
+      url={https://arxiv.org/abs/2602.00678}, 
+}
+```

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