laika-stand-v1
Left-right asymmetry fell from 6.8° to 0°. Tilt grew from 2.3° to 4.7°, because a joint-limit penalty pushed against the standing pose itself.
| Line | Standing |
| What changed | Mirror-symmetry augmentation, and a default pose at the robot's zero position in CAD. |
| Checkpoint | The final checkpoint. |
| In simulation | Passed some of its tests |
| On the real robot | Not deployed |
| Exported | 2026-08-05 |
Lineage
Retrained from scratch, with the settings of laika-stand-v0 as the starting point. laika-stand-v0 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.
The hub did not stamp this file for lucen/laika. Its action scale differs from the robot's declared scale.
| Observation | 45 values: base angular velocity (3), gravity direction (3), velocity command (3), joint positions (12), joint velocities (12), previous action (12) |
| Action | 12 values, one per joint, clipped to ±1 |
| Action scale | 0.25 on every joint |
| Control rate | 50 Hz |
| 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.
Real robot
Ran on the real robot, and its log was kept.
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.