Roller Explore016 research checkpoint
Native CPU physics with MPS PPO output-layer learning, checkpoint 16. The inherited Pollen neural backbone and the prior own N8 feedback controller are credited in upstream-base-card.md. The exported policy uses only the official 61 observations and emits 14 joint actions.
Event: roller-sprint-2m. Fixed external command: 1.1. Accessories: rollers. Input [1,61], output [1,14], float32 ONNX, 50 Hz.
Local validation
At fixed command 1.1, the local canonical five-start result was 2.741 seconds, 5/5 finishes. New ordinary-start validation finished 128/128; command-stress validation finished 64/64 at commands 1.0 and 1.2. This checkpoint passed the declared 30 ms noninferiority screen against the earlier general baseline. It does not improve the published Roller best of 2.570 seconds.
This is a distinct previously unsubmitted research checkpoint for daily-run points, not a personal-best or podium claim. Official Arena acceptance, completion and points are not guaranteed. Local Apple Silicon results may differ from server results. No Tug policy or cup entrant is changed by publication of this repository.
Inherited upstream terms and attribution are retained in upstream-base-card.md and LICENSE-NOTE.txt. No new blanket redistribution license is asserted.
Model SHA256: e3ce2bf96f8ce86cfc06c2f452b9caf187e9dc51e1f89c9e4b88c5a87eab3ec0.
Simulation only. No real-robot safety or reliability guarantee.