ORCS release models

Public release checkpoints for ORCS — Oracle Robot Control Synthesis. These are the behavior-validated checkpoints selected from the corresponding private training runs. The W&B project is not required to download or play them.

Play immediately

After installing ORCS and its pinned dependencies:

# Optional: download and verify every checkpoint up front.
bash scripts/setup/download_released_models.sh

# Or let play download only the selected checkpoint on first use.
play Orcs-Dodge-AdaptSonic --agent release --viewer native
play Orcs-PerLoco-Grail-AdaptSonic --agent release --viewer native
play Orcs-PerLoco-OmRe-AdaptSonic --agent release --viewer native
play Orcs-Uolm-AdaptSonic --agent release --viewer native

Downloads are cached by release tag under ~/.cache/orcs/releases by default and are verified against the SHA-256 values in release.json. Set ORCS_RELEASE_ROOT to move the cache.

Contents

task	checkpoint	training iteration
Orcs-Dodge-AdaptSonic	Orcs-Dodge-AdaptSonic/checkpoint.pt	7,500
Orcs-PerLoco-Grail-AdaptSonic	Orcs-PerLoco-Grail-AdaptSonic/checkpoint.pt	14,999
Orcs-PerLoco-OmRe-AdaptSonic	Orcs-PerLoco-OmRe-AdaptSonic/checkpoint.pt	10,500
Orcs-Uolm-AdaptSonic	Orcs-Uolm-AdaptSonic/checkpoint.pt	19,999

Each .pt file is the complete RSL-RL training checkpoint: actor, critic, optimizer state, iteration, and run metadata. ORCS loads the actor for inference. ONNX exports are intentionally not included in this release.

The PerLoco and UOLM tasks require their matching motion/terrain/object datasets and assets; use the setup workflows in the ORCS repository. The dodge task has no external motion dataset.

Versioning and provenance

Use the immutable v0.1.0 revision for reproducible downloads. release.json records the exact file paths, byte sizes, checksums, and validated Mocke/RSL-RL revisions. Each task folder also contains a small provenance.json; private W&B run IDs are retained only as lineage identifiers.

License

The checkpoints incorporate SONIC model weights and are distributed under the NVIDIA Open Model License. Licensed by NVIDIA Corporation under the NVIDIA Open Model License.

ORCS-authored code and documentation are BSD-3-Clause. Adapted code and all external models, datasets, assets, and body-model files retain their respective terms; see NOTICE, THIRD_PARTY_NOTICES.md, and LICENSES/.

These are special-purpose robotics control models. Validate them in simulation before any use on hardware.