ATH H2 policies
ONNX policies for a Unitree H2 humanoid learning tennis in MuJoCo, trained on Kaggle (MJX float32, brax PPO) and checked in a float64 CPU MuJoCo oracle.
index.json- what's here and which policy is best.best/- the policy the ATH site shows:policy.onnx,spec.json(exact obs/action layout),metadata.json(validation results).ball-contact/latest/,ball-contact/best/- written live by the training kernel after every eval.stand/v3/- first stand policy. Display only: it fails the float64 oracle (falls within 3 s under pushes).
Metadata reports validation honestly. A policy is only called validated if it passed the float64 oracle.