ZEST + state-estimation

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ZEST + state-estimation#

Task id: Wbc-G1-Zest-SE · In-tree reference on robot g1.

Same env rewards/RSI/terminations as ZEST reproduction; actor obs match State-estimation observations.

  • Presets: apply_zest + apply_se_actor + wire_g1_imu_sensors

Train & play#

uv run wbc-mjlab-train --task Wbc-G1-Zest-SE --dataset samples
uv run wbc-mjlab-play --task Wbc-G1-Zest-SE --dataset samples --viewer viser

Logs: logs/rsl_rl/wbc_g1_zest_se/<run>/

Tips#

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