Pre-trained Policies#

Pre-trained policies are available in agile/data/policy/.

Directory Structure#

policy/
  velocity_g1/
    unitree_g1_velocity_history_state_dict.pt
    unitree_g1_velocity_history_torchscript.pt
    leapp/Velocity-G1-v0/
      Velocity-G1-v0.onnx
      Velocity-G1-v0.yaml
      Velocity-G1-v0_initial_values.safetensors
  velocity_height_g1/
    unitree_g1_velocity_height_history_state_dict.pt
    unitree_g1_velocity_height_history_torchscript.pt
    unitree_g1_velocity_height_teacher_state_dict.pt
    unitree_g1_velocity_height_teacher_torchscript.pt
    leapp/Velocity-Height-G1-History-v0/
      Velocity-Height-G1-History-v0.onnx
      Velocity-Height-G1-History-v0.yaml
      Velocity-Height-G1-History-v0_initial_values.safetensors
  velocity_t1/
    booster_t1_velocity_v0.pt
    booster_t1_velocity_v0_state_dict.pt
    leapp/Velocity-T1-v0/
      Velocity-T1-v0.onnx
      Velocity-T1-v0.yaml
      Velocity-T1-v0_initial_values.safetensors

Available Policies#

Policy

Task

Commands

Included formats

G1 velocity history

Velocity-G1-History-v0

v_x, v_y, w_z

TorchScript, rsl_rl checkpoint, LEAPP

G1 velocity-height history

Velocity-Height-G1-History-v0

v_x, v_y, w_z, height

TorchScript, rsl_rl checkpoint, LEAPP

G1 velocity-height teacher

Velocity-Height-G1-Teacher-v0

v_x, v_y, w_z, height

TorchScript, rsl_rl checkpoint

T1 velocity

Velocity-T1-v0

v_x, v_y, w_z

TorchScript, rsl_rl checkpoint, LEAPP

Policy Formats#

  • TorchScript (.pt): Exported policies ready for deployment. Load with torch.jit.load().

  • rsl_rl checkpoint (.pt only): Training checkpoints containing rsl_rl 5.x keys such as actor_state_dict or student_state_dict, optimizer_state_dict, and iter. Required for resuming training or batched evaluation.

  • LEAPP bundle (.yaml, .onnx, and .safetensors): Self-contained policy graph, model, and feedback initial values for deployment and Sim2MuJoCo evaluation.

Usage#

# T1 TorchScript policy
uv run scripts/eval.py --task Velocity-T1-v0 \
    --checkpoint agile/data/policy/velocity_t1/booster_t1_velocity_v0.pt

# G1 rsl_rl checkpoint
uv run scripts/eval.py --task Velocity-G1-History-v0 \
    --checkpoint agile/data/policy/velocity_g1/unitree_g1_velocity_history_state_dict.pt

# G1 velocity + height training checkpoint
uv run scripts/eval.py --task Velocity-Height-G1-Teacher-v0 \
    --checkpoint agile/data/policy/velocity_height_g1/unitree_g1_velocity_height_teacher_state_dict.pt

The evaluation script automatically detects TorchScript and rsl_rl checkpoint formats.