---
license: mit
---

# Go2 RL GYM Data

Checkpoint files for [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym).

## 📦 Files

The table below mirrors the evaluation table in the main repository README.
`Link` points to the corresponding Hugging Face file or folder page.

| Model | Score | Tracking | Safety | Quality | Level | Link |
| --- | --- | --- | --- | --- | --- | --- |
| go2_moe_cts (Ours) | **0.6713** | **0.6669** | **0.7857** | **0.7392** | **7.85** | [go2_moe_cts_137000_0.6713](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_moe_cts_137000_0.6713) |
| go2_ac_moe_cts | 0.6509 | 0.6442 | 0.7644 | 0.7149 | 7.52 | [go2_ac_moe_cts_115k_0.6509.pt](https://huggingface.co/wty-yy/go2_rl_gym_data/blob/main/go2_ac_moe_cts_115k_0.6509.pt) |
| go2_mcp_cts | 0.6399 | 0.6355 | 0.7542 | 0.7058 | 7.41 | [go2_mcp_cts_91k_0.6399](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_mcp_cts_91k_0.6399) |
| go2_moe_ng_cts | 0.6519 | 0.6447 | 0.7639 | 0.7186 | 7.56 | [go2_moe_ng_cts_79k_0.6519](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_moe_ng_cts_79k_0.6519) |
| [CTS](https://arxiv.org/pdf/2405.10830) vanilla | 0.5786 | 0.5755 | 0.7066 | 0.6624 | 6.83 | [go2_cts_vanilla2_103.5k_0.5786](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_cts_vanilla2_103.5k_0.5786) |
| [HIM](https://arxiv.org/abs/2312.11460) | 0.5379 | 0.5453 | 0.6476 | 0.6050 | 6.19 | [go2_him_21k_0.5379.pt](https://huggingface.co/wty-yy/go2_rl_gym_data/blob/main/go2_him_21k_0.5379.pt) |
| [DreamWaQ](https://arxiv.org/abs/2301.10602) | 0.5054 | 0.5105 | 0.6149 | 0.5730 | 5.74 | [go2_dwaq_119.5k_0.5054.pt](https://huggingface.co/wty-yy/go2_rl_gym_data/blob/main/go2_dwaq_119.5k_0.5054.pt) |

Additional self-collision-enabled result:

| Model | Score | Download |
| --- | --- | --- |
| go2_moe_cts_high_slope_thre | 0.6715 | [go2_moe_cts_high_slope_thre_164k_0.6715_20260419](https://huggingface.co/wty-yy/go2_rl_gym_data/tree/main/go2_moe_cts_high_slope_thre_164k_0.6715_20260419) |

## 🚀 Usage

File types:

- `policy.pt`: TorchScript policy for Sim2Sim deployment.
- `policy.onnx`: ONNX policy for C++ / Sim2Real deployment.
- `policy.pkl`: raw policy weights.
- `model_*.pt`: full training checkpoint.
- single `*.pt` files at repository root: standalone checkpoint files kept as released.

Example paths:

```bash
# Sim2Sim policy
./go2_moe_cts_137000_0.6713/policy.pt

# ONNX deployment policy
./go2_moe_cts_137000_0.6713/policy.onnx

# Full training checkpoint
./go2_moe_cts_self_103.5k_0.6669/model_103500.pt
```

For training, evaluation, export, and deployment commands, see the main repository [go2_rl_gym README](https://github.com/wty-yy/go2_rl_gym).

## 🔎 Details

- Most directory entries contain exported policies.
- `go2_moe_cts_high_slope_thre_164k_0.6715_20260419` contains both exported policies and the full `model_164000.pt`.
- `go2_moe_cts_self_103.5k_0.6669` contains exported policies and `model_103500.pt`.
- On the Hugging Face web page, folder entries should use `tree/main/...` URLs for navigation.

## 📄  Citation
If you find our work helpful, please cite:
```bibtex
@article{wu2026robogauge,
      title={Toward Reliable Sim-to-Real Predictability for MoE-based Robust Quadrupedal Locomotion}, 
      author={Tianyang Wu and Hanwei Guo and Yuhang Wang and Junshu Yang and Xinyang Sui and Jiayi Xie and Xingyu Chen and Zeyang Liu and Xuguang Lan},
      year={2026},
      journal={arXiv preprint arXiv:2602.00678},
      url={https://arxiv.org/abs/2602.00678}, 
}
```