laika-omni-c4-ff800
It learned to walk sideways, from almost no tracking to 120% and 125%. All 260 test conditions kept 20 of 20 seeds upright. One hip roll symmetry check missed by 0.005 rad.
| Line | Walking in any direction |
| What changed | A new controller contract: a sideways feed-forward term in the joint targets, and a sidestep command. |
| Checkpoint | Iteration 800, 100 iterations past laika-omni-c2-700. |
| In simulation | Passed its tests |
| On the real robot | Deployed |
| Exported | 2026-08-08 at commit 1b37d8b |
| SHA-256 | 3af74270a9d71b26bd70385828dc6fadd1765b7ada93ac38aac4dc4bcc922b76 |
Lineage
Trained from laika-omni-c2-700, resumed at checkpoint 700. laika-omni-c2-700 is not published on this hub.
Inputs and outputs
This section is read from the contract stamped inside the ONNX file. The robot
refuses a policy whose contract does not match its own. The same contract is in
io_contract.json.
| Observation | 215 values: base angular velocity (3), gravity direction (3), velocity command (3), joint positions (12), joint velocities (12), previous action (12), gait phase (2), past frames (168) |
| Action | 12 values, one per joint, clipped to ±1 |
| Action scale | 0.5 on every joint |
| Control rate | 50 Hz |
| Gait cycle | 0.5 s |
| Starting base height | 0.38 m |
| Sideways feed-forward gain | -0.5 |
| Joint order | l_hip_pitch_joint, l_hip_roll_joint, l_hip_yaw_joint, l_knee_joint, l_ankle_pitch_joint, l_ankle_roll_joint, r_hip_pitch_joint, r_hip_roll_joint, r_hip_yaw_joint, r_knee_joint, r_ankle_pitch_joint, r_ankle_roll_joint |
Plant it was trained against
| Torque limit | RS00 11 N·m, RS02 17 N·m, RS06 12 N·m |
| Velocity limit | RS00 33 rad/s, RS02 20 rad/s, RS06 10 rad/s |
| Armature | RS00 0.0015, RS02 0.0032, RS06 0.007 |
| Joint friction | RS00 0.13, RS02 0.12, RS06 0.15 |
| Joint damping | 0.02 |
| Default stiffness and damping | RS00 12 and 0.6, RS02 20 and 1, RS06 30 and 1.5 |
| URDF and USD fingerprints | d6fab96bfc280a4d and 92b141c8dd200483 |
If the robot's motors differ from these, the simulator warns and the real robot refuses the policy.
Sim tests
Measured in simulation. 13 commands, 20 seeds each.
A command passes when every seed stays upright for the whole run and tracks 85% to 115% of the command. A check passes at 20 of 20 seeds.
| Test | Result | Reading |
|---|---|---|
| Stand still | PASS | 20 of 20 upright |
| Forward 0.15 m/s | PASS | 20 of 20 upright, 89% of the commanded speed |
| Forward 0.30 m/s | PASS | 20 of 20 upright, 93% of the commanded speed |
| Backward 0.10 m/s | FAIL | 20 of 20 upright, 132% of the commanded speed |
| Backward 0.20 m/s | PASS | 20 of 20 upright, 97% of the commanded speed |
| Sideways left 0.10 m/s | FAIL | 20 of 20 upright, 120% of the commanded sideways speed |
| Sideways right 0.10 m/s | FAIL | 20 of 20 upright, 125% of the commanded sideways speed |
| Turn left 0.20 rad/s | FAIL | 20 of 20 upright, 75% of the commanded turn rate |
| Turn right 0.20 rad/s | FAIL | 20 of 20 upright, 58% of the commanded turn rate |
| Forward 0.20 m/s, turn left 0.20 rad/s | FAIL | 20 of 20 upright, 95% of the commanded speed, 82% of the commanded turn rate |
| Forward 0.20 m/s, turn right 0.20 rad/s | FAIL | 20 of 20 upright, 93% of the commanded speed, 16% of the commanded turn rate |
| Forward 0.15 m/s, sideways left 0.10 m/s | PASS | 20 of 20 upright, 95% of the commanded speed, 89% of the commanded sideways speed |
| Forward 0.15 m/s, sideways right 0.10 m/s | FAIL | 20 of 20 upright, 78% of the commanded speed, 116% of the commanded sideways speed |
Real robot
Deployed. Feedback from the robot was traced to the remote control's speed settings.
Note
An earlier attempt started from laika-omni-c2-a800 and failed.
Where it comes from
Lucen Robotics trained this policy for Laika in Isaac Lab. The inputs, outputs and plant come from the ONNX file's own stamp. The sim tests, where there are any, come from the training log's results.