{
  "schema": "perceptive-cbf-rl/upstream-freebase-sim2sim/v1",
  "status": "complete",
  "task": "Unitree-G1-AMP-Dodge-Depth-Single-BallOnly-Flat",
  "upstream_repository": "https://github.com/lzyang2000/perceptive_cbf_rl",
  "upstream_commit": "2d4266978805e8272daa7f029a8bca91cf45e1ba",
  "checkpoint": "deploy/ckpts/dodge_link_cbf.onnx",
  "checkpoint_sha256": "164f9ea7ce80709942905e4f5436c58c87680f086004176368d3593380f62f9a",
  "observation_dim": 960,
  "action_dim": 29,
  "frame_offsets": [
    0,
    3,
    8,
    18
  ],
  "control_hz": 50,
  "video_fps": 25,
  "zero_velocity_command": true,
  "free_base": true,
  "modes": [
    {
      "mode": "duck",
      "high_throw": true,
      "aim_offset_y_m": 0.0,
      "steps": 220,
      "resets": 0,
      "root_y_min_m": -0.03503887355327606,
      "root_y_max_m": 0.014612914063036442,
      "root_y_range_m": 0.049651787616312504,
      "head_z_baseline_m": 1.2520763874053955,
      "head_z_min_m": 1.0635910034179688,
      "head_drop_m": 0.18848538398742676
    },
    {
      "mode": "sidestep_right",
      "high_throw": false,
      "aim_offset_y_m": 0.22,
      "steps": 220,
      "resets": 0,
      "root_y_min_m": -0.0006491916137747467,
      "root_y_max_m": 0.2547639012336731,
      "root_y_range_m": 0.25541309284744784,
      "head_z_baseline_m": 1.2520852088928223,
      "head_z_min_m": 1.2158937454223633,
      "head_drop_m": 0.036191463470458984
    },
    {
      "mode": "sidestep_left",
      "high_throw": false,
      "aim_offset_y_m": -0.22,
      "steps": 220,
      "resets": 0,
      "root_y_min_m": -0.29861220717430115,
      "root_y_max_m": 0.011010782793164253,
      "root_y_range_m": 0.3096229899674654,
      "head_z_baseline_m": 1.2520649433135986,
      "head_z_min_m": 1.1709380149841309,
      "head_drop_m": 0.08112692832946777
    }
  ],
  "video": "pacman-g1-freebase-dodge-modes-1080p.mp4"
}