Choose a task

A task is what you train: a robot plus a stack of presets (rewards, sampling, observations, terminations), registered under one --task id with its own log folder. All tasks share the same MDP, CLI and log layout, so results are directly comparable.

uv run wbc-mjlab-list-envs                                  # every registered task
uv run wbc-mjlab-train --task <TaskId> --dataset samples

By goal

Default stack

Wbc-G1 — the starting point: tracking on all keybodies, adaptive sampling, deploy-ready actor. Start here.

Wbc-G1 — default stack

ZEST reproduction

Wbc-G1-Zest — the ZEST paper setup: tracking on end-effectors, reward-aligned sampling, no EE-height termination.

Wbc-G1-Zest — ZEST reproduction

BeyondMimic-style sampling

Wbc-G1-BinaryFailure — adaptive sampling driven by binary failures.

Wbc-G1-BinaryFailure — BeyondMimic-style sampling

End-effector command

Wbc-G1-EE — the policy sees hand and foot targets instead of joint references; deploy without a joint-space reference.

Wbc-G1-EE — end-effector command

State estimation

Wbc-G1-SE, Wbc-G1-Zest-SE, Wbc-G1-EE-SE — the actor gets anchor pose error and IMU velocity instead of height / gravity references.

Wbc-G1-SE — state estimation

Rough terrain

Wbc-G1-Terrain-Scan — curriculum terrain, a height scan in the actor, terrain-aware terminations.

Wbc-G1-Terrain-Scan — rough terrain

Tasks of other robots follow the same names: Wbc-H2 (extension), Wbc-<Id>, Wbc-<Id>-SE and Wbc-<Id>-Terrain-Scan for robots added in the Studio.

Compare

	Wbc-G1	Wbc-G1-Zest	Wbc-G1-BinaryFailure	Wbc-G1-EE
Presets	apply_wbc	apply_zest	apply_binary_failure	apply_wbc + apply_end_effector
Body rewards	all keybodies	end-effectors only	all keybodies	all keybodies
Actor command	ref_joint_pos	ref_joint_pos	ref_joint_*	ref_body_pos / ref_body_ori
Action	residual on q_ref	residual on q_ref	residual on q_ref	offset from default pose
Adaptive sampling	reward-aligned similarity_ema	reward-aligned similarity_ema	binary_failure	reward-aligned similarity_ema
EE height termination	yes	no	yes	yes

Variants stack on these: -SE adds apply_se_actor, -Terrain-Scan adds apply_terrain_scan. How presets compose: Presets and tasks.

Papers

Paper	Link	Tasks
ZEST	arXiv:2602.00401	Wbc-G1-Zest (reproduction), Wbc-G1 (its tracking with deploy extras)
BeyondMimic	arXiv:2508.08241	Wbc-G1-BinaryFailure
SONIC	arXiv:2511.07820	planned — Roadmap

Cite the method papers when you reproduce or compare against them: Research & citations.

Tune a task without code

In the Studio, Preset starts from any task and edits observations, rewards, terminations, sampling, terrain and PPO; the result trains as <task>--<name>. To add a task in code: Add a task or preset.