Training console

Every generation, the moment it is published.

This page reads the published feed the simulation reads. The stage board, the numbers and the hashes all come out of those files, nothing is typed in by hand, and the page re-reads the feed every sixty seconds.

Generation

47 published

Stage

S2 Rough ground

ppo

Survival

15.0%

over the evaluation episodes

Longest episode

20.00 s

best seed of the newest generation

Published

24 days ago

2026-09-21 21:04 UTC

Trainer

not reporting

Says running, last heartbeat 24 days ago.

Nothing new for 24 days. The newest generation is 46, published 2026-09-21 21:04 UTC. Says running, last heartbeat 24 days ago.

Feed source: the copy of the feed deployed with the site, as it was when this page was built. The page reads the live feed in the browser and replaces these numbers.

Seven stages, in order.

A stage passes only when every threshold below is met over its own evaluation episodes at its own command. Passed never goes back to pending, and stages pass in order.

S0Stand

zero command, 20 s, no fall

100 episodes at command [0.0, 0.0, 0.0] on G1JoystickFlatTerrain

Passed at generation 3. Best so far: generation 3, survive 95.0%, 1.25 m.

survive 95%

passed

S1Walk

flat ground, |v| ≤ 1 m/s

100 episodes at command [0.8, 0.0, 0.0] on G1JoystickFlatTerrain

Passed at generation 5. Best so far: generation 5, survive 99.0%, 14.73 m.

survive 90%, vel err 0.20 m/s

passed

S2Rough ground

rough terrain, |v| ≤ 1 m/s

100 episodes at command [0.8, 0.0, 0.0] on G1JoystickRoughTerrain

Best so far: generation 6, survive 70.0%, 10.08 m.

survive 90%, vel err 0.20 m/s

running

S3Turn and back

flat ground, backward + yaw command

100 episodes at command [-0.6, 0.0, 0.8] on G1JoystickFlatTerrain

survive 90%, vel err 0.25 m/s, yaw err 0.30 rad/s

pending

S4Run

flat ground, commands up to 2 m/s

100 episodes at command [1.8, 0.0, 0.0] on G1JoystickFlatTerrain

survive 85%, vel err 0.40 m/s

pending

S5Get up

recover from a fall within 5 s

100 episodes at command [0.0, 0.0, 0.0]

No environment for this stage in the pinned Playground, so the trainer pauses here.

get up 80%, within 5 s

pending

S6Take a push

random pushes while walking

100 episodes at command [0.5, 0.0, 0.0] on G1JoystickFlatTerrain

survive 80%, vel err 0.30 m/s

pending

Generations, newest first.

Pick one to read its evaluation. Every row comes from index.json; every number to the right of it comes from that generation's own manifest.

Timeline

1-25 of 47

Newest at the top. New generations arrive here without a reload.

Generation

Generation 46

S2 Rough groundppo2026-09-21 21:04 UTC

Survival

15.0%

100 episodes of 20 s

Mean distance

11.67 m

planar pelvis travel

Falls

85 / 100

one per episode at most

Longest episode

20.00 s

best of the seeds below

Policy policy.onnx, 103 observations in, 29 actuator targets out. The published file is the one that was evaluated.

Episodes

command [0.8, 0.0, 0.0] · 50 Hz · 10 substeps

Seed	Survived	Fall	Frame	Distance	Vel err	Yaw err
0	18.44 s	pelvis_height	922	12.69 m	0.142	0.175
1	16.30 s	pelvis_height	815	11.33 m	0.155	0.174
2	16.56 s	pelvis_height	828	11.34 m	0.153	0.159
3	15.26 s	pelvis_height	763	10.79 m	0.147	0.179
4	16.40 s	pelvis_height	820	11.44 m	0.164	0.183
5	15.12 s	pelvis_height	756	10.80 m	0.157	0.202
6	18.50 s	pelvis_height	925	12.33 m	0.166	0.152
7	17.64 s	pelvis_height	882	11.61 m	0.167	0.209
8	20.00 s	no fall	none	13.32 m	0.156	0.148
9	19.68 s	pelvis_height	984	14.05 m	0.138	0.198
10	15.78 s	pelvis_height	789	11.12 m	0.157	0.188
11	15.72 s	pelvis_height	786	10.46 m	0.175	0.202
12	15.26 s	pelvis_height	763	10.85 m	0.132	0.225
13	15.20 s	pelvis_height	760	10.61 m	0.166	0.210
14	15.22 s	pelvis_height	761	10.52 m	0.136	0.171
15	16.54 s	pelvis_height	827	11.41 m	0.150	0.177
16	16.64 s	pelvis_height	832	11.29 m	0.198	0.266
17	15.16 s	pelvis_height	758	10.24 m	0.163	0.170
18	15.58 s	pelvis_height	779	10.82 m	0.148	0.167
19	16.28 s	pelvis_height	814	10.85 m	0.172	0.160
20	20.00 s	no fall	none	13.74 m	0.146	0.173
21	15.38 s	pelvis_height	769	10.63 m	0.150	0.172
22	17.94 s	pelvis_height	897	12.74 m	0.143	0.220
23	20.00 s	no fall	none	13.58 m	0.159	0.166
24	20.00 s	no fall	none	13.84 m	0.131	0.170
25	14.40 s	pelvis_height	720	10.11 m	0.159	0.209
26	19.50 s	pelvis_height	975	13.77 m	0.141	0.167
27	20.00 s	no fall	none	13.42 m	0.167	0.188
28	15.04 s	pelvis_height	752	10.47 m	0.152	0.165
29	18.34 s	pelvis_height	917	12.57 m	0.136	0.213
30	16.26 s	pelvis_height	813	11.11 m	0.147	0.170
31	19.84 s	pelvis_height	992	13.72 m	0.158	0.200
32	17.92 s	pelvis_height	896	11.96 m	0.173	0.192
33	15.76 s	pelvis_height	788	10.40 m	0.157	0.191
34	15.42 s	pelvis_height	771	10.68 m	0.146	0.167
35	16.62 s	pelvis_height	831	11.27 m	0.165	0.199
36	16.22 s	pelvis_height	811	11.42 m	0.133	0.185
37	17.46 s	pelvis_height	873	12.35 m	0.131	0.184
38	15.96 s	pelvis_height	798	11.14 m	0.164	0.163
39	18.28 s	pelvis_height	914	12.27 m	0.165	0.182
40	15.28 s	pelvis_height	764	10.64 m	0.160	0.164
41	20.00 s	no fall	none	12.52 m	0.175	0.164
42	20.00 s	no fall	none	13.44 m	0.136	0.154
43	15.36 s	pelvis_height	768	11.23 m	0.145	0.169
44	20.00 s	no fall	none	13.83 m	0.138	0.153
45	14.98 s	pelvis_height	749	10.51 m	0.135	0.157
46	16.74 s	pelvis_height	837	10.98 m	0.163	0.232
47	15.40 s	pelvis_height	770	10.39 m	0.167	0.157
48	20.00 s	no fall	none	13.09 m	0.131	0.200
49	20.00 s	no fall	none	13.54 m	0.150	0.150
50	14.92 s	pelvis_height	746	10.23 m	0.160	0.199
51	14.28 s	pelvis_height	714	10.12 m	0.151	0.184
52	17.24 s	pelvis_height	862	11.97 m	0.160	0.192
53	16.50 s	pelvis_height	825	11.35 m	0.148	0.171
54	20.00 s	no fall	none	13.68 m	0.139	0.168
55	16.24 s	pelvis_height	812	11.15 m	0.160	0.180
56	15.04 s	pelvis_height	752	10.50 m	0.151	0.162
57	17.30 s	pelvis_height	865	11.50 m	0.158	0.161
58	15.14 s	pelvis_height	757	10.69 m	0.155	0.191
59	20.00 s	no fall	none	13.94 m	0.133	0.173
60	16.12 s	pelvis_height	806	11.67 m	0.153	0.224
61	20.00 s	pelvis_height	1000	13.53 m	0.161	0.183
62	14.74 s	pelvis_height	737	10.27 m	0.169	0.193
63	18.66 s	pelvis_height	933	12.88 m	0.160	0.181
64	19.36 s	pelvis_height	968	13.35 m	0.149	0.167
65	18.90 s	pelvis_height	945	12.81 m	0.179	0.200
66	17.52 s	pelvis_height	876	10.65 m	0.211	0.208
67	16.66 s	pelvis_height	833	11.12 m	0.174	0.181
68	15.16 s	pelvis_height	758	10.77 m	0.138	0.182
69	19.36 s	pelvis_height	968	13.18 m	0.161	0.166
70	19.26 s	pelvis_height	963	13.30 m	0.158	0.165
71	15.02 s	pelvis_height	751	10.54 m	0.170	0.175
72	14.18 s	pelvis_height	709	9.98 m	0.158	0.206
73	15.18 s	pelvis_height	759	10.12 m	0.174	0.171
74	15.12 s	self_contact	756	10.57 m	0.144	0.173
75	15.58 s	pelvis_height	779	10.92 m	0.145	0.170
76	16.52 s	pelvis_height	826	11.64 m	0.159	0.190
77	15.80 s	pelvis_height	790	11.08 m	0.158	0.167
78	15.96 s	pelvis_height	798	11.38 m	0.151	0.171
79	20.00 s	no fall	none	13.72 m	0.156	0.192
80	17.64 s	pelvis_height	882	12.34 m	0.144	0.176
81	16.22 s	pelvis_height	811	11.37 m	0.164	0.186
82	16.18 s	pelvis_height	809	11.53 m	0.139	0.192
83	19.66 s	pelvis_height	983	13.74 m	0.156	0.204
84	14.80 s	pelvis_height	740	10.20 m	0.161	0.178
85	15.80 s	pelvis_height	790	10.81 m	0.140	0.176
86	20.00 s	no fall	none	13.65 m	0.143	0.161
87	19.14 s	pelvis_height	957	13.37 m	0.166	0.206
88	15.14 s	pelvis_height	757	10.30 m	0.165	0.189
89	14.82 s	pelvis_height	741	10.09 m	0.159	0.154
90	16.46 s	pelvis_height	823	11.07 m	0.150	0.175
91	15.38 s	pelvis_height	769	10.78 m	0.148	0.177
92	15.98 s	pelvis_height	799	11.22 m	0.147	0.174
93	15.64 s	pelvis_height	782	10.44 m	0.164	0.193
94	14.66 s	pelvis_height	733	10.33 m	0.159	0.180
95	17.78 s	pelvis_height	889	12.16 m	0.150	0.174
96	15.08 s	pelvis_height	754	10.19 m	0.157	0.173
97	14.90 s	pelvis_height	745	10.12 m	0.163	0.179
98	20.00 s	no fall	none	13.80 m	0.134	0.155
99	16.80 s	pelvis_height	840	11.22 m	0.159	0.185

The files, and how to check them.

Each generation publishes its files first and its manifest last, and the manifest carries the sha256 of every one of them. Run the command on your own machine and compare.

manifest.jsonthe bytes the ledger hashes

3b08b88a5b6c7496560fcb59a3c8196740db37a466c134db7cbf0a661bf3922b

config.json

2dc1f14dd1e2ab4163ff41e1228db8da0d25bef9deba318ca3c4d2e36c6a8ef0

policy.onnx

0705f94a45ecc11b7edc9665a2a7a6d2292c8988fd23947be3ee2b1fcea2bad4

rollout-0.bin

f85069043324080821ea52a7cf21cc8d4d43695af6c5a1547f3755926f743720

rollout-1.bin

40322d453ebaa1cddb0b48f96dc78ff81feacbd517df85d85adf5901df2e8fb4

rollout-2.bin

ef630d27cf7c6bcc8433a15db0b63b8a230cb0dc1f916d4af8925fa3fa89257e

Check a hash yourself

curl -s https://basltion.com/feed/gen/000046/manifest.json | shasum -a 256
# 3b08b88a5b6c7496560fcb59a3c8196740db37a466c134db7cbf0a661bf3922b
curl -s https://basltion.com/feed/gen/000046/config.json | shasum -a 256
# 2dc1f14dd1e2ab4163ff41e1228db8da0d25bef9deba318ca3c4d2e36c6a8ef0
curl -s https://basltion.com/feed/gen/000046/policy.onnx | shasum -a 256
# 0705f94a45ecc11b7edc9665a2a7a6d2292c8988fd23947be3ee2b1fcea2bad4
curl -s https://basltion.com/feed/gen/000046/rollout-0.bin | shasum -a 256
# f85069043324080821ea52a7cf21cc8d4d43695af6c5a1547f3755926f743720
curl -s https://basltion.com/feed/gen/000046/rollout-1.bin | shasum -a 256
# 40322d453ebaa1cddb0b48f96dc78ff81feacbd517df85d85adf5901df2e8fb4
curl -s https://basltion.com/feed/gen/000046/rollout-2.bin | shasum -a 256
# ef630d27cf7c6bcc8433a15db0b63b8a230cb0dc1f916d4af8925fa3fa89257e

Every generation, with its hashes.

Every generation, the moment it is published.

Seven stages, in order.

Generations, newest first.

The files, and how to check them.

theconsolethe console